Interpreting sensor input for robot.

Using Arduino Sensors
24

OK so I implemented the code like this:

#include <Wire.h>
int incomingByte = 0;
int LeftF= 5;
int RightF= 2;
int LeftB= 3;
int RightB= 4;
void setup()
{
  pinMode(RightF,OUTPUT);
  pinMode(LeftF,OUTPUT);
  pinMode(LeftB,OUTPUT);
  pinMode(RightB,OUTPUT);
  Wire.begin();
  Serial.begin(9600);
}

void loop() {
  if (Serial.available() > 0) 
  
    Wire.requestFrom(2, 6);    

  while(Wire.available())    
  {
    char c = Wire.read();    
    Serial.print(c);         
  }

  if (incomingByte == 97)
  {
    digitalWrite(RightF,HIGH);
    digitalWrite(LeftB,HIGH);
    digitalWrite(RightB,LOW);
    digitalWrite(LeftF,LOW);
  }

  if (incomingByte == 100)
  {
    digitalWrite(LeftF,HIGH);
    digitalWrite(RightB,HIGH);
    digitalWrite(RightF,LOW);
    digitalWrite(LeftB,LOW);
  }


  if (incomingByte == 119)
  {
    digitalWrite(LeftF,HIGH);
    digitalWrite(RightF,HIGH);
    digitalWrite(RightB,LOW);
    digitalWrite(LeftB,LOW);
  }  

  if (incomingByte == 115)
  {
    digitalWrite(LeftB,HIGH);
    digitalWrite(RightB,HIGH);
    digitalWrite(RightF,LOW);
    digitalWrite(LeftF,LOW);
  }

}

and I'll get the address for the sensor on Monday went it's suppose to arrive. In the mean time could you help me get that parallax ultrasonic sensor code working sense that's what I'm going to be using to detect the distance between me and the robot?