So I am looking to modify this script that was on the cloud (thanks btw), however I am a little stuck... I am using the sabertooth Movement Panel ... so the the speed and turn times ect... dont match up (i know it not currently set that way but the commands are totally different with sabertooth).. Any thoughts on how to modify this for sabertooth ?

# Ping Object Avoidance
# Using Ultra Sonic Ping Sensor on servo for avoidance
# Version 1.1.1


# Configuration Settings
# This script assumes the following ports;
#
# Trig Port = D0
# Echo Port = D1
# Sweep servo = D2

# Adjust values below for movement control
$reverseturn = 1 # Reverse before turn? 0 = no, 1 = yes
$maxdistance = 30 # Change for maximum distance from object before avoiding in units
$boxedindistance = 20 # Change for maximum distance for boxed in detection
$turnamount = 500 # Change for how long to turn for in ms
$reverseamount = 500 # Change for how long to reverse for in ms (if applicable)
$movementspeed = 255 # Change for movement speed
$slowturn = 127 # Change for slow turn speed

# Adjust values below for sweep configuration
$sweepmin = 10 # Change for min limit
$sweepmax = 90 # Change for max limit
$sweepservodelay = 500 # Change for delay between sweep servo movements and readings

# Testing Options
$testmode = 0 # Change to 1 if testing without PING sensor



# Do not adjust these values
# $sweepcenter = $sweepmin+$sweepmax
# $sweepcenter = $sweepcenter/2
$sweepcenter = Round((($sweepmin+$sweepmax)/2),0)
$sweepprevious = $sweepmax # Do not change
$sweepcurrent = $sweepcenter # Do not change
$SweepErrorFlag = 0 # Do not change
$BoxedInErrorFlag = 0 # Do not change
$BoxedInRun = 0 # Do not change
$SweepCenterRun = 0 # Do not change
$EscapeRun = 0 # Do not change
$ScriptErrorFlag = 0 # Do not change
$isboxedin = 0 # Do not change
$penultimatemove = "none"
$lastmove = "none"