I'm sorry, but at this point you are getting way beyond my knowledge and experience. I had good luck building and running one of their stock kits straight "out of the box" so to speak. The only "modification" was that I was allowed to choose what type of board to mount the base onto.
Any guess I could make about mounting Lynxmotion parts on that ServoCity base would very likely be wrong. Perhaps someone else here can give you a more educated guess.
One last thought: If you or someone at school has access to a CAD program like SolidWorks, you can download CAD models of most SES parts here http://www.lynxmotion.com/s-5-ses-3d-models.aspx
. You could make a model of the ServoCity base, add the SES models, and mock up various configurations of your project until you find the best solution.
By the time you are done, you'll be way out of my league. But that's sort of the point isn't it.