It's partially working now, but something is still odd. The rangefinder will spin far to the right but it just barely goes to the left at all and when it sees the object directly in front, it kind of twitches towards it. Should it drive straight at the object, or is the only goal to spin around until it detects the object? I'm assuming I just need to tweak the programming to change how far the servo moves to the left, but I'm not sure about the behavior my robot is displaying.