Right now the motor count is at 27 and the sensor count is at 35. I don't have enough ports for all the sensors, but I am mounting them anyway. That way in the future I will be able to just switch sensors if I want to do something different. They are useless sitting in my Lego drawers anyway.
I am actually using more PF motors than servo motors. I have come up with some creative ways to control them with little or no feedback. I mostly use them when I can say "turn the motor on for 0.5 seconds, and then reverse it for 0.5 seconds." Or sometimes I attach a clutch gear and run the motor until I know the clutch gear will spin, and then reverse it. The drive wheels are XL PF motors and I run them by time or by using the compass. The bot is extremely heavy and I am glad I built the base frame ultra heavy duty. I think I am going to use two XL PF motors on each drive wheel. I built the drive train to accept up to three motors on each wheel.
Control of all the motors and sensors must be preplanned. Below is an Excel spreadsheet I have been tweeking to get the best result.
Now that I know where all the elements are going, I have to wire the darned thing. I have a feeling this is going to get messy.