Alright I think the last version is pretty stable but let me know if you have any issues or need a more detailed building instruction. I'm quite happ with how straightforward this build turned out to be, things that could be improved int the future:

• More optimized checking methods inbetween movements, bringing the time lower than 3 seconds before a move can be made - would take a bit of time and I think the gains might not be that massive
• better speaker/bluetooth mic for improved understanding and response during movement, right now it can be hard to hear at times, when it's a noisy environment
• Upgrade the ultrasonic sensor to a lidar - They're fairly affordable now but I'm not sure if I feel like redesigning what we have now. I think it looks quite good as is and functions well but maybe in a future build, I would like something from scratch perhaps that follows the same design as the module

Hope you'll enjoy this version!