Hi Matt,
Sorry, but I didn't read all of your code... I just jumped to your comment:
detect an object 25 Inches away, it turns the servo a degree. Then when it goes to 24, turns the servo 2 degrees and so on and so forth
Why not use a simple formula to calculate the avoidance angle? Something simple like the following: 26 degrees - Distance in inches, although this may not work at the extremes.
You could alternatively use if statements to divide the problem up. If 20 to 25 inches away, do what I said earlier... else if 10 to 20 inches away, turn closer to 90 degrees... else go in reverse.
That, or shoot a Nerf gun at it!