Lego Pibot Ultrasonic wall avoider

I have been working on getting the cheap ultrasonic sensor working for the past week and have got it working with my Lego Pibot.

It sends out an ultrasonic blip every 0.1 seconds and measures the time it takes for it to get a bouce back.

I followed a very helpful guide at raspberry spy which I got a lot of the ideas from.

http://www.raspberrypi-spy.co.uk/2012/12/ultrasonic-distance-measurement-using-python-part-1/

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