A little more info on my robots. The first robot used a PIC16f84a @ 20MHz to examine the home brew reflective infared sensors. Its output was 2 motors and a 2x20 LCD.

The next robot will run two PIC16f873a's (for pid control) and one PIC16f877a. The robot will have 3 40KHz infared object dectors a line sensing rig and fiber optic bumper sensors. It also will have a claw whitch will be able to lift the object more than 30 cm to get it in the goal box (for competition).