For my second milestone, I developed the car module itself, and programmed it to avoid objects. First, I assembled the car module kit, including the chassis, motors, wheels, and battery pack. I secured my Raspberry pi and an H-bridge to the chassis, as well as three ultrasonic sensors, and then I wired together all neccesary devices. The battery pack did not produce the correct voltage to power the pi, and I would end up using an alternative power source, but for this milestone, it stayed connected to its charging cable. Once everything was in place, I set to programming. I tested the motors (using pwm) and the ultrasonic sensors respectively, before I tried to program obstacle avoidance. Both tests went well, but obstacle avoidance proved tricky. The logic I used had the motors randomly stopping and glitching. Finally, by playing around with delays and the duty cycle for the pwm, I got the code to work. It was nice to complete such a large part of the finished prototype.