[mikets]

Don't understand what you were saying. What do you mean by "sorta jumps or pulses"? Looking at your code, you have two ultrasonic sensors. The first thing come to mind was they could interfere each other (i.e. one of them pinged and the other one picked up the echo). But searching through the code, I don't see the ultrasonic sensors being used, at least not controlling any of the driving. They were instantiated but never used except in print statements. Did you mean the numbers printed on the LCD are jumping? If so, it could be due to the two interfere with each other.