Buy an Axon, Axon II, or Axon Mote and build a great robot, while helping to support SoR.
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I do have access to a number of Cypress PSoC's, so if any of you know how to wire and program those for I2C, it would be a no-cost solution.
Recommend a controller? I'm tempted to get another ATMega328 because that's what the Arduino uses, but I don't have the accompanying Vregs and such. Perhaps the RBBB?
I had though that SPI needed an enable line? Thus 2 lines + 1 per slave?
PCF8574 sounds useful, but I'm looking to get separate processing power, so I can have it scan and move without taking a processing hit. (Mapping is hard on 2kb RAM)