Mixing two programs HELP!

I am trying to combine this song into the obstacle avoidance section of void forward so that when it goes forward it plays the imperial march. I am fresh into this with limited knowledge and definitely could use some help. There is some coding in there for brake lights as well, but I think that is going to work. Thanks for any assistance.

AutoGogo.ino (5.4 KB)

The first thing to do is to change the way that the timing happens when playing the music. You need to eliminate all delay()s because while they are happening nothing else happens.

Have a look at Using millis() for timing. A beginners guide, Several things at the same time and look at the BlinkWithoutDelay example in the IDE.