All functions (except remote control feature) are controlled by a single pic (PIC18F4620)
It uses 2 optical sensors for line following and for detecting the lack of ground, 2 distance sensors for autonomous and hand following mode, electrec mic for whistle control and a light sensor.
The motors are stepper so I can control the distance of the movement (good for area measuring)
Was programming with C language using MikroC, and PicKit2 for the pic programming