question about Obstacle Avoiding Robot

Hi,

I read the link of 'Obstacle Avoiding Robot using Arduino and Ultrasonic Sensor':

https://circuitdigest.com/microcontroller-projects/arduino-obstacle-avo…

I have a question how to determine the turning angle or turning amount when the HC-SR04 Ultrasonic Sensor detected an obstacle, if set the car heading to fix direction say North.

Thanks

Adam

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