Sonar, 2-Wheel Rover by Theomachist

This sketch is missing a short description
This is a code, found floating in the web forums, that is being slowly pieced into something I understand better and that works for my prototype "Swifferbot", intended to sweep the dog hair from the hard-wood floors.

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<iframe style="height: 510px; width: 100%; margin: 10px 0 10px;" allowTransparency="true" src="https://codebender.cc/embed/sketch:134862" frameborder="0"></iframe>

Embed The Serial Monitor

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<iframe style="height: 510px; width: 100%; margin: 10px 0 10px;" allowTransparency="true" src="https://codebender.cc/embed/serialmonitor" frameborder="0"></iframe>