International Brain Need to develop Robotic special features

Hello everybody !

My project use a wheelchair base ( 2 x 24 volts motors ) for power  I use a Sabertooth 2 x 25 V2 motor controller & RC Tx and Rx to drive it

Now my new project is ; using the Kawal Arduino Bot electronic ( Arduino Uno &  Robot builder's shield V2  ) to drive my Sabertooth using the motor output of the Robo builder shield  to the Sabertooth 5 volts input

Due to my robot's size I have to replace IR Sharp by 2 long range Sharp.  My question is:   I need help to modify the  code used by Kawal for his Arduino Bot .

The best way for me is a combination of Arduino Bot and Object tracker with two sharp  ( long range ) !!!!!!!!!!!

Thank you for your help, I'll be waiting for your comments.

I'M good in electronic but my bad side is programming !!

Please excuse my english wording because I'm Canadian french

Michel

Canadian Robot

This is the basic code

#include <Servo.h>

Servo head;

int irpin = 3 ;

int headpin = 12;

int lmotorpin1 = 8;

int lmotorpin2 = 9;

int rmotorpin1 = 4;

int rmotorpin2 = 5;

int dist = 0;

int dist1 = 0;

int danger = 400;

int leftdist = 0;

int rightdist = 0;

void setup () {

Serial.begin(9600);

pinMode(lmotorpin1,OUTPUT);

pinMode(lmotorpin2,OUTPUT);

pinMode(rmotorpin1,OUTPUT);

pinMode(rmotorpin2,OUTPUT);

head.attach(headpin);

head.write(90);

}

void loop () {

dist = analogRead(irpin);

if (dist < danger) {

forward();

}

else {

decide();

}

}

void forward() {

digitalWrite(lmotorpin1,LOW);

digitalWrite(lmotorpin2,HIGH);

digitalWrite(rmotorpin1,HIGH);

digitalWrite(rmotorpin2,LOW);

return;

}

void decide() {

hault();

lookleft();

delay(700);

leftdist = analogRead(irpin);

head.write(90);

delay(700);

lookright();

delay(700);

rightdist = analogRead(irpin);

head.write(90);

delay(700);

if (leftdist < rightdist) {

turnleft();

}

else {

turnright();

}

return ;

}

void hault() {

digitalWrite(lmotorpin1,LOW);

digitalWrite(lmotorpin2,LOW);

digitalWrite(rmotorpin1,LOW);

digitalWrite(rmotorpin2,LOW);

head.write(90);

delay(700);

return;

}

void lookleft() {

head.write(140);

return;

}

void lookright() {

head.write(40);

return;

}

void turnleft() {

digitalWrite(rmotorpin2,HIGH);

digitalWrite(rmotorpin1,LOW);

digitalWrite(lmotorpin1,LOW);

digitalWrite(lmotorpin2,HIGH);

delay(400);

return;

}

void turnright() {

digitalWrite(lmotorpin1,HIGH);

digitalWrite(lmotorpin2,LOW);

digitalWrite(rmotorpin1,HIGH);

digitalWrite(rmotorpin2,LOW);

delay(400);

return;

}