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As well as micro switches mounted on the corners of the robot, I'm using an ultrasonic distance sensor  .
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Sections
• Main processor
• Software
• Heartbeat
• Serial Comms Link
• I/O card
• Drive Controller
• Chassis
• Turret
• Motors
• Transmission
• Wheels
• Batteries & Power
• Audio & Amplifier
• Siren
• Camera
• GPS
• Lights
• Text To Speech
• Collision Sensors
• Temperature Sensor