Well after a long period where I had no access to my electronic equipment, the time is nearly upon me to get it all back out (just in time for the christmas holidays!). Heres what I need to do:

• Go over the IR code and change/rewrite if nessecary
• Change the IR diodes to radial types
• Hot Melt Glue the whiskers on rather than sticky pad.
• Have a look at the circuitry and implement anything I have recently learnt
• Implement PID Control ( Found a great link here)
• Investigate/Simulate/Create Phased array Sonar (Almost a project in itself) (Got all the bits)
• Integrate and EFPD?
• Investigate zigbee and see if its worth it. (I had seen a website where an xbee module was connected to a USB via an FTDI chip - cant find it now)
• Anything else I cant think of in the process…