Still not sure of what is your idea… receiving an event from an app like collaborizm to fire a sequence of a robot-wheeled movements? like what?
On the other hand, what @John Rodrigues says about turning wheels using an offset makes complete sense to me. In fact is an excellent idea for flat sufaces and single bots. Some years ago, maybe 15 (omg i realize now how old i am), i did something similar: controller was a PIC from micrchip (assembly programming), engines where futaba, wheels were some glued CDs with some vulcanized strip on the edge (it looked even pretty). The performance was very good. With easy programming yo could go forward-backward (just send exactly the same stream of pulses to futaba) or turn (just send different pulses to each, or to just one… see you can follow different curves or rotate without moving?). Nowadays i would choose this combination:
Multiwii instead of PIC (C programming and many other hardware features you will love and are cheap), still futabas (nothing changed in years, still easy to implement RC pulses)