[rhoads2234]

you can do a simple wall following routine to start - This approach would use maybe 2 touch switches

have one touch (limit is better but bump would work) on the side of your robot and another facing the front
the code would basically say
while not front sensor not pressed
{ if side sensor is pressed turn away from wall
if side sensor is not pressed then turn into wall}
GetOutOfCorner();
With this you could follow one side or the other around..