[smokescreen]

I hate this bloody control system.

No interrupts.
Not enough ram.
Can't send every variable to the dashboard.
UNSIGNED INTERGER MATH!!!!

Have to check on certain issues in the rule book, however.

Input and output is handled by the robot controller.
The OI sends signals to move servos.
Pots are connected to these servos.
Digital outputs turn on LEDs
The output of these LEDs are fed by phototransistors into the custom circuit board.
The pots, limit switches, and various other sensors hook into the custom circuit board.
The PIC in the custom circuit board handles the "thinking" part of the operation and sends voltage signals back to the OI through the sensor port.
These voltage signals are direct sensor signals to give values from 0-255.
The OI then simply reroutes the sensor signals to the appropriate speed controller or relay.
Ha! No more bloody stamp.
Goodbye Pbasic!
Nothing but good old assembler.