Henry IX: A fully autonomous robot platform
My thoughts on sensors is to use as few as possible and implement them on a needs basis. You will have to write software to make use of all the sensors to achieve some task. For example I suspect eight sonar sensors would be sufficient for obstacle avoidance which I see as the first behaviour worth implementing.
Think of what sensors would be required to achieve some particular task. If your current sensors do the job why add more? For example, if you want your robot to charge itself you need an internal sensor to fire when the battery voltage gets too low. This should trigger finding and docking with a charger behaviour. Having a task orientated approach tends to focus the mind on what is really required.
If you copy as HTML from the Arduino IDE you will get a nicer result and indentations.
Great testing, I ordered one yesterday that might be to me tomorrow.. I don't know if I will get a chance to touch it this weekend though, things have been pretty crazy the last couple of weeks. But when I do I will definitely share thoughts about how well it stacks up to ultrasonic. I imagine it will be pretty well.
I bet it can run at "sweep" (the servo library example file that moves the servo back and forth) speeds and still get good data. If that is the case there can be a lot more data points (perhaps as many as 180) instead of 5, 7, or 9 like i do with ultrasonic. While Ultrasonic is pretty good at finding table and chair legs because of the wider angle it can read from, it does have many blind spots.