I didn't use any ultrasonic module...

For the Ultraonic sensor, I think that's the worst part I've tried on the robot. I wanted to use it as a ranging sensor. But I've only succeed in 1,0 conditions, through at first I want it to output a 0 to 255 value.

I've written programs that theoretically work by measuring the echo time to determine the distance of the object in front of it, but it doesn't seem to be work.

I'll post the circuits of the robot later.

Stanley