Making it fully autonomous

Now, you must have understood the basics of autonomous driving using a simple proximity sensor. Now is the time when we make it fully autonomous. To make it fully autonomous, we must understand and map our surroundings rather than to just turn the vehicle till the time it encounters an obstacle. We basically need to divide this whole activity in the following two basic parts:

• Scanning the environment
• Deciding what to do with the perceived data

Now, let's first write the code and then see what we need to do: 

import RPi.GPIO as GPIO
import time

GPIO.setmode(GPIO.BCM)

import Adafruit_ADS1x15
adc0 = Adafruit_ADS1x15.ADS1115()

GAIN = 1
adc0.start_adc(0, gain=GAIN)

Motor1a = 20
Motor1b = 21
Motor2a = 23
Motor2b = 24

GPIO.setup(Motor1a,GPIO.OUT)
GPIO.setup(Motor1b,GPIO.OUT)
GPIO.setup(Motor2a,GPIO.OUT)
GPIO.setup(Motor2b,GPIO.OUT)

def forward():
        GPIO.output(Motor1a,0)
        GPIO.output(Motor1b,1)
        GPIO.output(Motor2a,0)
        GPIO.output(Motor2b...