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I though it was implied that I would be using some kind of power regulation
Port A serves as analog inputs to the Analog-to-digital Converter.Port A also serves as an 8-bit bi-directional I/O port with internal pull-up resistors (selected foreach bit). The Port A output buffers have symmetrical drive characteristics with both high sinkand source capability. As inputs, Port A pins that are externally pulled low will source current ifthe pull-up resistors are activated. The Port A pins are tri-stated when a reset condition becomesactive, even if the clock is not running.Port A also serves the functions of various special features of the ATmega644 as listed on page73.
Port B is an 8-bit bi-directional I/O port with internal pull-up resistors (selected for each bit). ThePort B output buffers have symmetrical drive characteristics with both high sink and sourcecapability. As inputs, Port B pins that are externally pulled low will source current if the pull-upresistors are activated. The Port B pins are tri-stated when a reset condition becomes active,even if the clock is not running.Port B also serves the functions of various special features of the ATmega644 as listed on page75.
5) yes its worth it, the primary difference being about 6hours less charging time
2. Is sonar less power consuming than IR? (factoring in a capacitor for sonar)3. Is there a noticeable difference between IR and sonar read times?