Create local version of sonarSensor (directly connected from Rio to Sonar unit).

Create a localSonar sensor implementation that provides the same interface as the remote version. Have it wrap the ultraSonic and get it's range data (in cm) from there.

https://robotpy.readthedocs.io/projects/wpilib/en/latest/wpilib/Ultrasonic.html

You may work from the code in the sonar_and_vision_william branch if you want to see the reference interface to the remote version (sonar over UDP).

Compare the remote sonar interface in the sonar_and_vision_william branch with the existing sensor code, then read the WPILib Ultrasonic documentation linked in the issue. Implement localSonar around the ultrasonic sensor so it exposes the same interface and reports range data in centimeters; done means callers can use it like the remote version.

Written by the indexing model from the issue text.