All these IO is use for sonar sensing, IR detectors for speed and directional, wheel homing detectors,manipulated arm, battery management sensor and extra sensors for future upgrades. The motor driver had force feedback capability to have on-the fly parametric change to suit the current new environment. All sonar sensors are equiped with counters to detect obstacles with distance measurements upon pinging. The sensors are read in FIFO style. Power is provided with 12V 7AH sealed lead acid battery.
All program are platform compilation.