Wow 
Thanks for taking the time to write up some code for me.
It's frustrating as hell when you have some ideas but hit the programming 'brick wall' (in my case hehe).
Like, for example have the motor speed directly proportional to the ping sensor(s) threshold. So for at full motor speed, the threshold is set at maybe 8feet. When the speed of the motor decreases, so does the ping sensor(s) min. threshold...
I'll try and go through each line of your code and figure out what each line does. I'll try and understand the best I can...I may have a few questions in the next few hours.
thanks again AWOL
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