The robot is a duckiebot from Duckietown. The base is a Raspberry Pi 3B with a motor hat to control the wheel motors. It is powered by a power bank. The sensors interface with an Arduino Uno. The Arduino reads the sensor values and outputs the values in the form: "[S1 S2 S3 S3 IR2 IR3]\n". S are sonar sensors, IR are infrared sensors. 1,2,3 are the directions front, left, and right respectively. The values are outputted via Serial. The Raspberry Pi connects to the Arudino via USB.