Software

Hi, I'm trying to develop an obstacle avoidance feature for the XboxController program I made. The first step is adding the distance measurement function in the code (I'm using Grove ultrasonic sensor); I placed it within the loop function, after GYRO calculations:

But it makes Bittle unable to walk (it moves its limbs just a little bit and very slowly) so I think thats not the best place to place the code; where should I put the sensors output to avoid influencing Bittle behaviour and movement?

Got any tips for using sensors? such as how much delay to use, how to send through serial properly...