Need help building an obstacle-avoiding robot using DFRobot motor driver

Hello,

I’m building a small obstacle-avoiding robot using Arduino/ESP32, DFRobot Space Waves motor driver, ultrasonic sensor, and DC motors.

I can already control the motors and read distance from the sensor, but I’m not sure how to structure the obstacle avoidance logic.

What is the best simple approach for decision-making (stop, turn left/right)? Any sample code or suggestions would be really helpful.

Thank you!