mini tank

This is a very cool looking, tidy little bot!

/*
 //R293D2
 
 
 this is the code is to run a little rodot it just has 2 sensers
 
 This example code is in the public domain.
 
 */
 #include <Servo.h>
 Servo myservo; 
               
 
int pos = 0;    // variable to store the servo position
 
 const int pingPin = 6;
int val = 0;    //  l293d
int val2 = 0;
int val3 = 0;
int val4 = 0;
int val5 = 0;
int val6 =0;
int bob = 0;
int bob2 =0;
void setup() 
{
  // output's for 293d
  myservo.attach(9);
  pinMode(11,OUTPUT);// enable pin left
  pinMode(10,OUTPUT);// enable pin  right
  pinMode(8,OUTPUT);//left REV
  pinMode(7, OUTPUT);//left Fwd
  pinMode(2, OUTPUT);//right rev
  pinMode(4, OUTPUT);//right fwd
  Serial.begin(9600);

}
//MAIN LOOP TRY TO KEEP SIMPLE
void loop(){
  long duration, inches, cm;
  for(pos = 0; pos < 20; pos += 2){
  myservo.write(50);              // tell servo to go to position in variable 'pos'
    delay(20);                       // waits 15ms for the servo to reach the position
  }
 
  PING();
   val = val4;
    for(pos = 0; pos<=20; pos+=2){
     myservo.write(90);              // tell servo to go to position in variable 'pos'
  delay(20);  
}

PING();
val2 = val4;
  for(pos = 0; pos<=20; pos+=2){
    myservo.write(130);              // tell servo to go to position in variable 'pos'
   delay(20);  
} 

PING();
val3 = val4;
 for(pos = 0; pos<=20; pos+=2){
    myservo.write(90);              // tell servo to go to position in variable 'pos'
 delay(20);  
}
PING();
val2 = val4;


// waits // waits 15ms for the servo to reach the position
if (val < 10 ){
  FWD_R(200);
  REV_L(255);
     } else{ if (val3 < 10   ){
              FWD_L(200);
              REV_R(255);
              }else{ if (val2 < 10 ){
                         REV_L(200);
                         REV_R(200);
                       }else{if (val2>  10 ){FWD_R(255);FWD_L(255);}}}}
             
 

}




 void PING()
 {
    long duration, inches, cm;
    pinMode(pingPin, OUTPUT);
  digitalWrite(pingPin, LOW);
  delayMicroseconds(2);
  digitalWrite(pingPin, HIGH);
  delayMicroseconds(5);
  digitalWrite(pingPin, LOW);
    pinMode(pingPin, INPUT);
  duration = pulseIn(pingPin, HIGH);

  // convert the time into a distance
  cm = microsecondsToCentimeters(duration);
  val4 = cm;
 }
  
long microsecondsToCentimeters(long microseconds)
{
  // The speed of sound is 340 m/s or 29 microseconds per centimeter.
  // The ping travels out and back, so to find the distance of the
  // object we take half of the distance travelled.
  return microseconds / 29 / 2;
}





void YELD_LR()
{
  digitalWrite(2,LOW);
  digitalWrite(4,LOW);
  digitalWrite(7,LOW);
  digitalWrite(8,LOW);
}

void REV_L(uint8_t rsp)
{
  analogWrite(10,rsp);
  digitalWrite(2,LOW);
  digitalWrite(4,HIGH);
}

void FWD_L(uint8_t rsp)
{
  analogWrite(10,rsp);
  digitalWrite(4,LOW);
  digitalWrite(2,HIGH);
}

void REV_R(uint8_t rsp)
{
  analogWrite(11,rsp);
  digitalWrite(8,LOW);
  digitalWrite(7,HIGH);
}

void FWD_R(uint8_t rsp)
{
  analogWrite(11,rsp);
  digitalWrite(7,LOW);
  digitalWrite(8,HIGH);
}

i put up a snipit of my coad if you need more of it just ask most of the coad is cut and pasted out of the examples on the arduino program my coading is not the best