I built this for a project in my microcontrollers class. The system that we were using was the CME-555 development board. The chip was a type of power-pc chip (MPC-555). The development board had the chip, memory, and a bunch of other stuff on it so you could build and test your prototypes on it, then port it to a chip and board that only had the stuff you needed. This board had a bread board, a boatload of headers for inputs and outputs, power and ground headers, a few switches, buttons, a potentiometer, headers for external devices (like a keypad and LCD display), etc... I didn't use most of it, but I couldn't very well take the chip off the dev-board. The rest of the wires hanging off of it are for the 4 sensors and 2 PWM outputs for steering and throttle. For safety I used a couple of transistors so that the servo and ESC signals weren't being powered directly by the chips output pins.