My robot with ultrasonic sensor

Projects Discussion and Showcase Robotics
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Components:
Arduino nano V3,Ultrasonic HC-SR04, Servo, H-Bridge, L293D, L7805.
Robot program:
http://maxim.wf/arduino_code/Robot_compilation.pde

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Haha! Great navigation!

I love how crazy it's head spins!

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   if(dist_f>=25)
   {
    a:
    motion('f',180,135,t);
    dist_135=sonar();
    front_motion(t);
    motion('f',135,90,t);  
    dist_f=sonar();
    front_motion(t);
    motion('f',90,45,t);
    dist_45=sonar();
    front_motion(t);
    motion('f',45,0,t);
    dist_r=sonar();
    front_motion(t);
    motion('f',0,45,t);
    dist_45=sonar();
    front_motion(t);
    motion('f',45,90,t);
    dist_f=sonar();
    front_motion(t);
    motion('f',90,135,t);
    dist_135=sonar();
    front_motion(t);
    motion('f',135,180,t);
    dist_l=sonar();
    front_motion(t);
    if (dist_f>=25)
    goto a;
    }

This should be a while loop, so you can loose the silly goto.

Some arrays and for loops() would greatly shorted the code.

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Thanks

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Is it this platform? http://www.robotshop.com/dfrobot-mobile-tank-base-1.html

Do you think you are getting good readings with panning the sonar so fast?

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yes. I' measuring only several positions (0, 45, 90, 135 180). And servo waits while arduino measuring at these times