First sorry for my English but not good. I want to ask the profis about my robotics problems. :)
I have a 2wd mobile platform. I played with this so many and my old simple codes was working well.
But I decided, I want to upgrade a little bit my "stupid" code which was very good with the fixed ping sensor and some IR sensor but too simple. Than I rebuilded all IR sensor first, and builded a little servo for the PING sensor.