AWOL, I do not know anything about debug prints. How do I go about getting those?
PaulS, I think I understand your comments and will see if I can modify the code to reflect them. One thing I have not addressed yet and is probably not relevant until the Ping returns are able to control the hacked continuous rotation servos, is that the servos themselves are not centered and I do not know how to do that. There is no physical adjustment I can see so I thought there was an electronic way to center them before the rest of the code begins. Thanks for all the help!!
const int RNeutral = 90; //value 90 for center
const int LNeutral = 90; //value 90 for center