I think you are telling me that I have not been using my PWM mechanism. In the case of turning I have defined STRAIGHT QuarterRIGHT, HalfRIGHT, RIGHT and the corresponding for LEFT. (I did not show you folks my definitions.) But I only use STRAIGHT, RIGHT and LEFT. That's bang-bang like a TOY level car. I could be doing much finer adjustments if I did a bit more arithmetic on my SONAR readings. GOOD IDEA. GOOD OBSERVATION. Presently I do comparisons in HEX. I really don't want to waste time translating to decimal.

Thank you!!

Ken