The Central Command section is composed of 1 OOPic programmed to take all the information from the other OOPics via the I2C network, and make a decision of what to do based on that information. It then executes that decision by ordering the other OOPics to perform certain tasks.

The Sensors section is composed of 1 OOPic driving 8 IR Sensors utilizing Texas Instrument's TSL235. The entire sensor array rotates and provides a 360% sweep divided into 32 sectors.

When looking for the candle, the 8 IR Sensors are sequentially read by a Virtual Circuit in the OOPic, which feeds the irradiant level into an oBuffer Object. As the sensor array spins, the position of the sensors is adjusted by an optical encoder which also is read by the Virtual Circuit. The resulting 32 sectors are then averaged to get the current ambient light level. When a peak that is twice as large as the other peaks is found, it notifies the Central Command OOPic that a candle has been detected and what sector the candle is in.

When looking for the walls, 8 IR LEDs turn on and the sensors look for the IR reflection from the walls. If the reflection intensity is the same on both walls, the robot is in the middle of the hall. If not, the robot moves towards the lesser intensity reflection.

The Engineering section is composed of 1 OOPic driving a 2-DC Motor control board, which in turn drives the wheels using 2 12v motors and gearboxes. The wheels also have optical encoders which read how far each wheel has traveled. The only function of the Engineering section is to take instructions from Central Command and make sure the robot moves as directed. If the Engineering OOPic cannot complete the instructed task, it sends an error condition over the I2C Network to the Central Command OOPic.

The speed and direction of each wheel is independently controlled by 1 oPWM Object to control the speed, 1 oDio1 Object for brakes, 1 oDio1 Object for direction, 1 oDio1 Objects for thermal overload, and 1 oA2D Object to read the current drawn by the motor. The I/O Lines of these Objects are feed directly into the LMD18200 H-Bridge ICs, which are used to power the motors. They are capable of driving a motor with a voltage range of 10V-DC to 55V-DC with up to 3A continuous and can drive the motor at a variable speed with reversible direction and brakes. It also has current sensing and thermal overload protection outputs.

The rotation of the wheels is tracked by a Virtual Circuit composed of 2 oDio1 Object to read the optical encoders, 2 oCounter Objects to track the position of the wheels, and a oMath Object to verify that the wheels have turned the same distance.