Nice job. Add some pid control to smooth out the drunk walk and its golden 
We definitely want to see more obstacles though. only one doesn’t tell the whole story 
Who said MaxBotix is great? I ordered 2 today, and here are the reading. Disappointment. >:(
C: 244.08
C: 250.43
C: 250.43
C: 245.27
C: 249.24
C: 280.99
C: 254.40
C: 245.27
C: 246.46
C: 244.08
C: 250.43
C: 246.46
C: 32.94
C: 250.43
C: 253.21
C: 248.05
C: 245.27
C: 242.89
C: 330.99
C: 249.24
C: 245.27
C: 249.24
updated: added a 47mfd capacitor seems to be a bit better.
For the Maxbotix the following setup is recommended in noisy environment. A similar trick I’ve been using on the Sharp GP2xxxx sensors. A 10µF and a 100nF SMD capacitor across the VCC and GND pins direct on the sensor, give a better output signal. I’ve seen that MarkH has written some new drivers for the Sharp sensors. Didn’t tested it yet, but I will verify the result with a modified and an unmodified sensor.
I working on new software for pacman, showing new tricks like maze solving and navigating around multiple obstacles. A PID controller is on my todo list, too.
Thanks,
I added a 47uF, I thought that would fix the issue, but after spent something to test it last night just to find out it really not helping. I hate adding too many hardwares onto these already small sensors making them look crowded like pices of junk. After I quiting last night, I thought of an algorithm for the filter that I think it will work. I will try it tonight.
Thanks!