Arduino AGV Obstacle Avoidance Code

I have a small AGV platform running on an Arduino Uno, two DC motors driven by an L298N bridge, and a pair of HC-SR04 ultrasonic sensors mounted up front. I already have the hardware wired and tested; what I still need is clean, well-documented embedded-C code that lets the robot detect an approaching obstacle with the ultrasonics and autonomously steer around it.

Functionality
• Primary mode must be obstacle avoidance; no line following or remote-control features are required at this stage.
• When the sensors report an object within the safe-distance threshold, the robot should smoothly adjust course and continue forward rather than simply stopping. A simple state machine or PID-based turning logic is fine as long as the movement looks deliberate and repeatable.

Implementation notes
• Target board: Arduino Uno (ATmega328P) using the current Arduino IDE or PlatformIO.
• Motor driver: L298N; use the two enable pins for PWM speed control so the robot slows appropriately during evasive maneuvers.
• Sensors: Two HC-SR04 modules; include a configurable averaging or debounce routine so single bad echoes don’t trigger a false turn.
• Please keep the code modular—separate sensor, motor, and decision layers—and annotate clearly so I can extend it later.

Deliverables
1. A single .ino file (or PlatformIO project) that compiles without external libraries beyond the standard Arduino core.
2. A brief README explaining pin assignments, configurable parameters (speed, distance threshold, turn angle), and how to flash and run the program.
3. Optional but appreciated: a short video or simulation log showing the avoidance routine in action so I can verify before testing on hardware.

I’m happy to answer hardware-specific questions quickly so you can keep momentum.