Arduino self driving Tank(code in the desc)

Arduino based tracked model with capability of randomising the route and escaping close beings
parts:
Track set
L298N driver
HC-SR04 Ultrasonic sensor x3
arduino r3 ch340 (uno)
2 base model motors (dc6v)
As the battery, you can use everything around 9 and 12 volts, it would run perfect. Do not forget to separate the driver’s and the processor’s power supply. I use a smaller battery for the arduino, and a 9.6v battery rack for the drivers which feeds the motors.
The code:
https://gist.github.com/LSstuff/70635eed30033ce1d009e0bc99e8edcf

, https://i.ytimg.com/vi/Ol4rS5gfDdI/hqdefault.jpg

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