[Gdeaver]

The benefits of this sonar is the choice of interface. I'm thinking the A to D may be best because the TTL serial maybe tied up with the camera. The a to d is also very fast and easy. The cone of detection is also narrower and may benefit from being mounted on a servo and scan for objects. The problem with sonar is that if another robot uses sonar too they can interfere with each other. Maybe next year our team may have to put one on our bot and just let it ping constantly to mess with an opponents sonar auto strategy. For a range < 5' i like the sharp 5' IR sensor. Its great for things like wall following and obstacle avoidance. Put the Sharp Ir on a servo and scan to build up a vector that maps the distance to objects in range. With IR you can detect the difference between a table leg and a wall.