Use when writing obstacle-avoidance, wall-following, or maze-navigation code for wheeled robots with ultrasonic/IR sensors. Provides finite-state-machine architecture (enum states, transition tables, non-blocking millis()/asyncio patterns), single-sensor wall following with P-control, Bug-0/1/2 algo
Use when writing obstacle-avoidance, wall-following, or maze-navigation code for wheeled robots with ultrasonic/IR sensors. Provides finite-state-machine architecture (enum states, transition tables, non-blocking millis()/asyncio patterns), single-sensor wall following with P-control, Bug-0/1/2 algorithms, ultrasonic failure modes on soft/angled surfaces, and the delay()-kills-responsiveness fix.