This diagram now shows the two ways that I have of controlling the iCreate, either through the Arduino or via a USB serial line. In addition, I have added the IR and Ultrasonic Distance Sensors and their servos. I changed out the SSC-32 for the Maestro, since that seems to be a better bet. I have also added a temporary place holder for a Joystick/Button shield connected to an Arduino. The purpose for this connection is to be able to use a Joystick controller to control movement and camera remotely, not something I want to have in the final model.
