An ultra sonic sonar is a device that a robot uses to measure the distance between it and an object.
The ultra sonic sonar has two speaker-like cyclinders. One of them produces an ultra sonic sound wave; another one recvieves the returning wave. The sonar measure the distance by measuring how long does it take for the wave to bounce back.
The sonar is usually installed at the front of the viechle.
The red-looking devices at the back of the viechles are call encoders. They are used to keep tracks how many rotations the wheels have turn. The encode can be used to meansure the amount of rotation needed for the viechle to move for a certain distance.
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