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Primarily we want to use vision for targeting the castle.
Another use would be to send visual data back to the driver due to the obfuscation from the defenses.

Range Finding is another problem we want to solve. I found a LIDAR Lite V2 sensor (currently on Back order) that beams light. We would like to find a similar sensor to measure distance. Any thoughts on components for that type of solution?

I've found out that ultrasonic sensors are susceptible to noise interference so I don't want to use them now.