By the way:
I know that the I have to put a jumper for the speaker but I removed it because it was constantly beeping.
this is good information! this might indicate that you have a problem with your ps2 connection!
i would also check in your code that you are running the data cable from RX/TX from pin 8 as you have it assembled.
i see a whole host of problems with your bot. a picture says a thousand words comes to mind.Assembly
you have used the wrong holes on your servo horns when attaching the brackets. they look out of centre.
you also need to peal off the protective film that covers the lexan panels. http://www.lynxmotion.com/images/html/infolexa.htm
this is becoming the most popular way to connect:
also back to the problem:
check your connection against this chart.
Also your powering options need changing too.