I have a robot that is made to measure tempture, voltage, capacitance, and signal waveform. I only have two terminal to meaure all of the task. How would i use two terminals to collect all the data and to comunicate with the microcontroller?

 

What type of microcontroller does your robot use? What do you have for analog inputs or ADC conversion? I assume you only have one ADC input, since you state you only have two terminals... What are you using for sensors?

Check out analog multipexing... A chip similar to this may help Analog Multiplexer IC Note this will require two digital output pins from a microcontroller to select which of the four sensors you want to read.