Rewrote code a little more with some help from oric_dan(333), thanks 
still working on how to smooth out the servo movements. my servos start/stop/and reverse directions too rapidly. I am worried that this will damage them eventually :~
my continuous rotation servos were made by vex robotics. they were originally designed to rotate continuously so I have never taken them apart, instead I just changes the settings in the code. the suggestions above are great if you are modifying normal servos. I have used the method of centering the potentiometer and glue it in place while the servo is hooked up and receiving a "center" signal, works great. here is my latest code 8)
ping_pan_roam_switch.ino (4.54 KB)