Steve Kerslake RoboSpeedy RoboSpeedy.doc Sharp IR sensors, hacked as analog. Used 3 Precision Navigation Gimballed Digital Compass. Used 1 Polaroid Sonar ranged to 15 feet. Used 1 Uses IR sensors for obstacle avoidance. IR sensors are used as bump sensors because I do not actually want to bump anything. Uses sonar to detect obstacles at long range. Different ranges will implement different behaviors.