were working on a series of small table top robots now, to develop in sections the various levels of subsumption architecture, one level at a time. I am doing this piece meal, to eventually develop a superior home cleaning robot. First, we are tackling the impact level, with bumpers and a new design for a plate style bumper. First I am working on a one chip per servo driver, using a PIC12f629, an under a buck processor to take serial data from the main processor and control a single servo. Ill of corse share it with all of you when we get it perfected, and you can have both the schematic and software ready to burn for your own servo drivers.