after an hour of messing with code, I was able to get a simple demo working with a parallax ping and a servo. This is for a self navigating robot. When there is an object within 2 feet of the robot, it will stop. The servo will then rotate, scanning the PING))) sensor, telling which paths are open for travel. The robot will then choose the one that is closest to its destination. I have only been working on getting the servo and PINg to work, and another group of people are working on the GPS. No one has worked out the motor control for the robot tank yet. I will post the code if anyone asks. This was composed without access to the internet.