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Designing the circuit for robot Answered

I am trying to design a floor cleaning robot that is also a obstacle avoiding robot. I want to use two tt dc motors for the wheels, a servo motor to control de ultrasonic sensor and a dc motor to rotate the sponge. Currently I have a Lafvin super starter kit that brings a L239D motor driver that will move the wheels but I am having trouble visualizing how to connect the DC motor and the servo motor. Can someone help with this circuit?

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