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+Pinout
+------
+
+Trig = A0 orange
+Echo = A1 red
+
+
+ENA = 10 green left
+IN1 = 9 blue
+IN2 = 8 brown
+
+IN3 = 7 gray right
+IN4 = 6 white
+ENB = 5 black
+
+
+>>>
+ ENA 5 green
+ ENB 6 black
+ IN1 7 blue
+ IN2 8 brown
+ IN3 9 gray
+ IN4 10 white
+<<<
+
+Servo = 3
+
+S1 = 2
+S2 = 4
+S3 = 11
+
+IR = 12
+
+Protocol
+--------
+
+int16: bigEndian
+
+Motor speed: int16, range -255 .. 255 left and right
+
+ <XX> <LL> <LL> <RR> <RR>
+
+Head position: int8 degree, range 0 .. 180
+
+ <XX> <DD>
+
+Distance reading event: uint16, centimeter
+
+ <XX> <DD> <DD>
+
+Sensor change event:
+
+ <XX> <SS>