Braitenberg vehicles with an Asa H brain

Braitenberg sketched out what might be a possible history of the evolution of intelligence. (Vehicles, MIT Press, 1986)  Some fraction of these different vehicle types were then subsequently fabricated using the earliest versions of Lego mindstorms. (Hogg, Martin, and  Resnick, Braitenberg creatures ,1991) The order in which concepts are learned and capabilities developed is important.  Braitenberg's book suggests a bit about some possible development sequences.  I believe that I have now been able to implement essentially all of Braitenberg's creatures using Asa H as the controller of Lego NXT 2.0 hardware.