The wrt54gtm has flash memory and pin outs on the circuit board to install a usb card reader, although this is an advanced router mod.
video demonstrates what a WRT54G-TM, LINKSYS router, wireless router can do with couple of servos attached. Linksys wrt54g-tm router projects for fun. wrt54gtm wireless robot. The larger memory of the WRT54G-TM, will help add storage space for running sub programs. ======