Here are a couple of pictures of my Omega 2 powered robot. I'm using the PWM Expansion on the Power Dock, and it's working not too badly.
On the proto board is basically this circuit, one for each motor and using the PWM signal output instead. I had to switch the 270 ohm resistor for a 100 ohm resistor before the motors would move...not sure why?
I also had trouble with stability at first. The Omega kept locking up/crashing and wouldn't come back after a few power cycles. Other times it would work perfectly. I ended up adding 4xAA batteries feeding the PWM Expansion through the barrel connector and that seems to have helped (fingers crossed).
Note that the PWM controller keeps its last known setting if the Omega2 crashes/reboots, so I had a runaway robot a few times.
Still tinkering, but I thought I would share with all of you. Right now I'm just using pwm-exp from the command line to control the motors, working on a Python script to run sequences and/or listen for UDP packets to control it with.