"What your describing is called 'partial plan' autonomy, and yes, outside the lab where we're building systems to interact with the real world this is pretty much state of the art for systems that actually have to work autonomously, first time and…"
"Neat project, very impressed. It's basically an Arduino at heart, so maybe you should retain some easy access to the spare CPU pins? It looks like you're not using pins 23-28 on the CPU for anything (at the moment?). Perhaps you could expose those…"