John used Sharp GP2D12 IR analog sensors for point distance measurements. - They plug right in to our Co-Processor A/D inputs.

The SONAR units are the Devantech SRF04 for distance measurements over a broader area. Since the 2P40 processor isn't encumbered with servo drive, taking time to do the SONAR readings doesn't hurt the smoothness of the drive servos.

The sensor towers are mounted on servos to allow them to sweep around. He is still only using 4 of the 8 available servo controllers.

The LCD is a parallel model. they are much lower cost than the serial versions and the 2P40's built in LCD instructions to makes driving them easy.