I have, for some time, been tossing around ideas for giving feedback to the driver mid-match for things such as battery voltage, motor failure (PTCs, Cortex breakers, etc.), and sensor data (the robot is often facing away from the driver, so determining whether Mobile Goals and cones are fully grabbed is difficult; limit switches and sonar sensors could help). The obvious answer is LEDs, but those are limited by the finite port count (especially since sensors have to go in there too) and the fact that they can only be one color. An LCD could work as well, but they have limited area for information to be displayed and are difficult to read from a distance. I even considered a servo, with different angles denoting different states, but that is limited to 1 "bit" of information at once (and would use up a motor port). Does anybody know of other solutions to this issue? Is there a (legal) way to chain LEDs to the I2C port, or some other vex parts that could provide data to the driver about the state of the robot during a match?