MiniBot? Ultrasonic Sensor

• ​http://www.modmypi.com/blog/hc-sr04-ultrasonic-range-sensor-on-the-raspberry-pi
• ​HC-SR04 ultrasonic with Raspberry Pi

The Pi Zero has 2 hardware-supported PWM outputs on GPIO18, GPIO19: ​Pi PWM Tutorial ​PWM via WiringPi through some clever programming, additional hardware-assisted PWM can be implemented via DMA: ​PWM via DMA