A method of operating a mobile robot that includes driving the robot according to a drive direction, determining a driven path of the robot from an origin, and displaying a drive view on a remote operator control unit in communication with the robot. In general, the subject methods involve identifying a set of conformant digital signals for a pixel, and integrating those signals. The formation of alignment features can be performed at the wafer level during fabrication of the IC die. In the outer dispensing position the spigot can dispense water into a container positioned outside the dispensing cavity. A third magnet on the second housing portion may be opposed to the first magnet to help align the housing portions for connection.