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Chumby is a robot controller. A USB hub fans out Chumby's USB. A USB-Serial cable connects to Roomba's control port, and Serialdaemon.c runs on Chumby & passes network connectivity from Roomba through to the Roombacomm java application running on the laptop. There's a webcam cabled to Chumby USB, with a daemon that serves video up to a client on the laptop. A tilt-compensated compass is wired to an Arduino Mega, who's USB is cabled to Chumby, and provides the laptop-resident java app with network access to robot compass. The plastic box also contains an R/C receiver wired to Arduino, so Arduino can report R/C input.