[Al Skierkiewicz]

It is likely better to handle multiple sensor inputs on a custom circuit board since you can use a faster processor and more RAM to process a command set to send to the RC. We have used a custom circuit ever since they were allowed. We have used inputs from current sensors, wheel rotation sensors, gyros, microswitches, etc. to feed the CC. As long as the CC and sensors don't directly control the power feeding motors (see the robot rules for CC and sensors) you are open to develope alsmost anything.