4.0 Ultrasound

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Now an interrupt, which is so helpful because it saves time.

If we want a robot to move fast, we have to be able to react quickly to changed sensor values. With reflex couplers (line sensors) the acquisition of a new value takes a few to 100 microseconds, depending on which phototransistor is used. (And, of course, whether you have to wait for the value to be acquired!)

With ultrasound, it can take up to 40ms to generate a new value. At a speed of the robot of one meter per second, it covers in this time....   How many mm back? Exactly! And then your robot has missed the curve!