1. To sense whether or not a door is open, the robot uses the ultrasonic sensor.
2. By using the loop, we don't have to program for every door. It will continue after it checks a door.
3. The robot does not always turn back to straight after looking in the doorway, so it can go off to the right and possibly miss the next line marking the doorway. However, multiple searches in the doorway would not affect the reliability of the ultrasonic sensor. It should still be able determine whether or not the door is open, even if the robot has checked in several other doors already.
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