In SX Microcontrollers, SX/B Compiler and SX-Key Tool, Zoot wrote:

You certainly don't need an external 555 for IR work -- the SX is more than capable of driving servos, sending/sampling IR, running behavior routines, etc., all at once. 20MHZ is a good speed to run the SX for this purpose -- gives you plenty of speed in the execution without the huge current hit of 50MHZ.

One example of complete 'bot on an SX is here: [url]http://forums.parallax.com/forums/default.aspx?f=21&m=358502[/url] although this 'bot uses PWM for motor control instead of servo pulses (in honesty, using servos is simpler and requires much less of a hit ISR-wise).

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