In this chapter, we have learned how to add distance sensing to our robots, along with the different kinds of sensors that are available. We've seen code to make it work. We then created behaviors to avoid walls, and looked at how a simplified, but flawed behavior could be made, and how a more sophisticated and smoother behavior would make for a better system.

At the end of this chapter, we added a small menu system to our robot to start different modes from a connected web browser.

In the next chapter, we will be looking again into driving predetermined paths and straight lines, but using an encoder to make sure that the robot moves far more accurately.

We will use an encoder to compare our motor's output with our expected goals and get more accurate turns.