After some heavy research I chose the ATSAMD21 as the microcontroller for TyroBot. 48MHz, 38 io, 256KB of flash and 32KB of RAM should easily fulfill all the projects requirements. Below is the io that is going to be used.

• 7 pins for the servos (all pins on the ATSAMD21 can work as PWM)
• 1 analog in to monitor the battery
• I2C port to communicate with the LIS3DH accelerometer.
• I2C port for screen (may not be used if it is a SPI screen)
• SPI port for LCD (may not be used if it is a I2C screen, TBD)
• Serial port for communication with the esp8266
• Maybe a SPI port for an SD card slot

Below is a general flowchart of the electronics for #TyroBot

Next I drew up a schematic, slightly based off of the Adafruit Huzzah board, #mini SAM and #JACK by @Michele Perla For the charging circuit I just used the recommended application in the datasheet, which I used in my generic battery charging circuit.I also did some layout and am currently checking for errors so I can purchase the parts from Digikey and send off the gerbers to oshpark. So if you see any flaws let me know. :)