I'm sure this is not a new issue. My robot uses a ping to look for obstacles and then when found, it stops sweeps 180 degrees (10 segments) looking for a clear path. I am having a problem with surfaces at oblique angles to the ping in that it can't correctly determine the distance. I am pretty sure that I would have s the same issue with the Sony IR sensor, but not sure. Has anyone run into a solution for this problem? The sensor works perfectly in every other way.