So, I've been working on getting the sensors working on the arduino. I decided to start with my existing Accelerometer/Gyroscope chip (MPU-6050), since it is the predecessor to the MPU-9150 that I ordered a few days ago. I was able to get accurate readings off and even so far as to use the build in digital motion processor using sample code in the i2cdevlib library that can be downloaded here. As a bonus, this sensor also can sense temperature, which I'm pretty sure the one I ordered can do as well. Although I hooked up my magnetometer through its auxillary I²C connectors, I have yet to test it.

Next I hooked up my IR detection sensors, but I haven't tested those yet either. I created a simple circuit with a CdS cell (photocell) and a pulldown resistor and hooked that up to an analog port and that tested successful.

After that, I hooked up my IRDirection sensor. I found some code on the internet that wasn't quite working. After changing a couple things in the code, I got it working successfully. My idea was to use the photocell to detect the light level and if the conditions were right, it could make use of the IRDirection sensor to go towards light. The sensor is really more of a light detector that senses the IR in light and can tell which direction it is strongest.

Next, I need to test out the IR obstacle sensors, which should be really easy because they are just a digital on/off. Then I can work on getting the data for the compass and showing that. At that point, I believe I will have tested all of the sensors I have, including the ping sensor and RC Inputs from before. I should work on the outputs at that point. I obviously have the robot's servos and I wanted to use some LEDs as lights on the robot, since it is a vehicle and then the fun part is to try and combine the sensors to overcome various obstacles.

With planning for some future expansions,such as maybe a color sensor, GPS, possibly a camera, and additional servos or additional input sensors, I should be able to start working on a board design.