To shrink things down, I replaced my half-size breadboard with a Secure Digital (SD) card shield. All of the sensor connections were moved to a tiny breadboard which sits on an Arduino prototyping shield. The bulk of the electronics now occupies the footprint of an Arduino Uno, requires fewer wires, and sits three stories tall!
By consolidating the electronics, I was able to shift the battery forward to keep the vehicle more balanced. I repeated Sonar Experiment 2 with this new configuration and will look at the new data soon. Next week's post will include upgrade details and a data analysis for Sonar Experiment 2.5.