The integration concerns are similar to those described in Section \ref{sec:sap_improve}. One additional difficulty was determining the correct PWM parameters in order to set the neutral and active positions of the servomotors. This involved connecting the servomotors while they were detached from the robot as a whole, sending the neutral PWM signal to calibrate them, and carefully mounting them so that they maintained their neutral setting. After this, a simple calculation followed by trial and error revealed the correct active setting for the PWM.
Next, a series of tests were conducted to determine the optimal distance between the light sensors and the candlelights for flickering detection purposes. This was accomplished by changing the amount of times the PIC executed the stepper firing sequence to change the distance travelled by the sensor array. The shades were re-made and re-mounted once the new distance of 6 cm was determined.
A dock for the cable bus was made on a circuit board with wireouts to all the subsystems that required communication with the PIC. The circuit board was mounted on the machine and the connections were made to all the various subsystems and components.