[DominickC]

I've rewritten the code in a very minimal fashion, trying to make it as clear as possible while removing all superfluous actions.

I believe this should work. It's within a bunch of other code which runs every 20ms. Will I need to add a delay within the While loop?

When the rangefinders are within 5 to -5 inches of each other, I want to set all motor outputs to 0. How might I do that other than what I've got in this new image?

Thanks.