[MotorHead]

We do a very similar routine, but with the vision system instead of the ultrasonic sensor. See the attached vi for an example.

The Target info would be your value coming from the ultrasonic sensor. The idea is to look at current value and compare to some setpoint. If you are above a setpoint, move one way. If you are below setpoint, move the other way and lastly if you are within some acceptable window, do nothing because you are in place. In the attached vi, the setpoint is zero, and the acceptable window is between .25 and -.25.

Reply back if more questions.