2.5 Ultrasound
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If you want to use the ultrasonic sensor, you can simply download a library from the Internet. The only problem is that you then have to drive very slowly.
"Huh, why is that?"
Well, because then you have to wait up to 40ms for the value. You can only afford that if you drive slowly. Otherwise you've lost the line!
"And now?"
Now we just do an interrupt again....
(The ultrasonic sensor used so far has an "offset" of 460 microseconds (us), but there are also some that have an offset of 2200us. This must be taken into account when calculating the distance. 2:25 in the video.)