question about Obstacle Avoiding Robot

Forums

Hi,

I read the link of 'Obstacle Avoiding Robot using Arduino and Ultrasonic Sensor':

https://circuitdigest.com/microcontroller-projects/arduino-obstacle-avod...

I have a question how to determine the turning angle or turning amount when the  HC-SR04 Ultrasonic Sensor detected an obstacle, if set the car heading to fix direction say North. 

Thanks

Adam

[original story: Circuit Digest]

Circuit Digest 17 Feb 21:16