#include <MINDSi.h>
#include <Servo.h>

/***************************************************
/ MINDS-i Application. mymindsi.com
/
/Ping Sensor Application
/
/This Ping Application code is a basic example 
/of how to incorporate your PING sensor in the 
/Arduino code.  In this code your rover will 
/drive until it sees an object with the PING 
/sensor and then it will stop. 
/
/***************************************************/

Servo drive, steer;

void setup() {
  drive.attach(4); //set a pin for the ESC/steering servo to use
  steer.attach(5); 
    
  drive.write(90); //set the output for the ESC/servo
  steer.write(90);

  delay(1000); //delay 1 second for arming

  steer.write(180);
}

void loop() {
  if( getPing(10) < 500 ) drive.write(90); //if there is no room in front, stop
  else drive.write(100); //otherwise go forward
}