The sensor array consists of 4 touch sensors on the bottom of each foot, Left and right IR obstacle detection, and 4 CdS photo detectors located on all four sides of the robot. The heart of the control system is a Microchip PIC16F819 micro-controller and a separate 8 channel A-D converter.
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/blog/show/design-goodness-mike-smyths-minimechadon