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Update 28 NOV 12: - I've fiddled with the targeting code and now have it written correctly so that the GDR will enter "Sentry Mode", will scan 180 degrees using an ultrasonic rangefinder on a turret, will record the distances to everything in front of it, and then will scan back and forth and will stop and fire on anything that approaches (change in distance from previously set distances) - I have some issues with performance on these scans as sometimes the GDR will perceive a difference in distance ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/global-domination-robot-gdr-mk-2