I put the car up on blocks and found that when going forward it only turned left in my patented incremental way. It also flashed the SONARs at about 1/2 the usual rate.

The Vcc wire for the right side SONAR had become disconnected.

Soooo with the front SONAR working and the right SONAR always saying zero distance to the wall, the car turns left in little bits except when it approaches a wall head on. Then it brakes and swerves left.

That's exactly what my video shows.

Given that information, what if anything should I fix?

Ken