This is our subsystem diagram. We had one motor moving the head vertically, one motor moving the head around, eight motors moving the arms, and one motor moving the sensor. The sensor gave direct feedback to the code. When there was someone detected, it told the code to halt the arm motors and head vertical motors and only run the rotational motor. When the person was present, the sensor picked up on the angle at which the person was at and told the head to rotate to that position. When the person left the field of view, the sensor told the code to tell the rest of the motors to run again.