[KenWittlief]

Im not sure what you might have wrong with your wiring - some things to check:

1. switches only need to be connected between the ground pin and the signal pin - the black and white wires on the pwm cables if thats what you are using which goto the outside pins on the 3 pin digital input connector. If you connect a switch across the red and black wires (+5V and Gnd) that would tend to make the whole digital input section wack out.

2. the IR sensors - are you talking about the banner sensors (yellow and black box with 4 wires) or the little 3 pin photodetector for tracking the beacon? The photodetectors dont goto the digital inputs - they must be used with interrupt because they pulse on and off when they see the beacon (low for 1 or 2mS and high for 9 or 8 mS) - they have to be on the interrupts pins so the transisition from H to L can be captured - if you have them on digital inputs and try to read them then sometimes you will see the H and sometimes you will see the L, even when it IS locked on the beacon.

3. carefully check all your wires and make sure a power wire is not loose in a terminal somewhere, and make sure someone didnt knock off a pwm wire to a spike and plug it in backwards.