EG First 2nd rev bot

Very new to this site. Been playing with this project on and off for 6 months. Completed once then went back to and it wasn't working. Tried to troubleshoot and burnt out the chip. Pulled out the whole circuit board. Then rewired the battery pack. At that point it is just the frame DC motors on front and back(front geared to turn right and left, back left as dc motor for fowards and back) . I pulled an H bridge chip from a motor drive expansion board and breadboarded it .

For the most part to DC motors are working fine. But in trying to add a servo and ping to the mix the coding is becoming a night mare. especially with the buggy Eclipse ide, and the hard to deal with Arduino IDE.

I really want to get it going and so I am posting my code as I have it.

My motor function class and Ping class seems like they may be able to tie together.

The servo code is what is giving me grinding gear problems. The servo problems is not for the wheels turning because the manufacturer rigged a gear set up for a DC motor for that. The problem is the servo the ping will sit on. I still have yet to figure out how to get them to work together. Seeing all these other bots it look so easy but I am still trying to figure out how to get the ping to decide the best direction to go. Along with getting the servo to act right.

The H bridge is;

This is my first bot car, I have been into Arduino litely but more heavily this year. I would like to get this one going and not put it up for later. Any help is very much welcomed.