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Sonar-based obstacle-avoiding line follower

• Wiring

  Starting from the line-follower wiring, plug in the RCWL-1601 sonar and connect its VCC and GND pin appropriately using two extra wires (S4, S7) as follows:

  

• Programming

  Change code.py to be just import ex03_line_follower_sonar.

• Result

  Note that you can hear the normally inaudible sonar working in the recording.