Hey guys.

I need a little help as the title suggests. I've been trying to have a ultrasonic sensor checking for obstacles while a Roomba is in cleaning mode, the idea being that the body of the robot doesn't hit the top of a chair or table where on its own, a Roomba would go under it as it knows it's own height, but with a robot body on top of it, it is obviously now taller now and the IR sensor on the Roomba doesn't know this.

I have a ping sensor mounted on a servo positioned at the robots chest hight, but I can't seem to write a script where if the ping sensor detects anything, it would direct the Roomba (while in cleaning mode) away from the obstacles, as the Roomba's IR sensor seems to override the ping sensor and bad things happen (lots of body slams in to furniture and falling over). Is it possible to integrate the two together?

Thanks.