Self Navigating Arduino Robot

Dear: LMR

I am hoping to build a self navigating robot. Right now it only obstacle avoids. It uses arduino mega, 12 volt motor driver, Ping sensor, and a 2s lipo battery. I used arduino and programmed it mostly in one day. Here is the code. I will post a video shortly. 

The chassis is made from an old excavator toy I found at the dump. I took the excavator part off of it since it was only used for decoration and striped it's electronics. Then I screwed onto it a two by four piece of wood to help mount electronics and then screwed a pencil case on top of it. While the pencil case was on top of it I then drilled some necessary holes to help out with the electronics and motor reach the arduino and motor driver. Thanks!!! Wish me good luck!!!

From: Noah

#include <NewPing.h>
NewPing sonar(3, 5, 200);
void setup() {
  // put your setup code here, to run once:
 Serial.begin(9600);
 pinMode(13, OUTPUT);
 pinMode(12, OUTPUT);
 pinMode(9, OUTPUT);
 pinMode(8, OUTPUT);
 pinMode(7, OUTPUT);
 pinMode(6, OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
  if(sonar.ping_cm() <= 30)
  {
    CCW(255);
  }
  if(sonar.ping_cm() > 30)
  {
    Forward(255);
  }

}
void Forward(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  analogWrite(9, Speed);
  digitalWrite(8, LOW);
  analogWrite(7, Speed);
  digitalWrite(6, LOW);
 
}
void Backward(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  digitalWrite(9, LOW);
  analogWrite(8, Speed);
  digitalWrite(7, LOW);
  analogWrite(6, Speed);
}
void CCW(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  analogWrite(9, Speed);
  digitalWrite(8, LOW);
  digitalWrite(7, LOW);
  analogWrite(6, Speed);
}
void CW(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  digitalWrite(9, LOW);
  analogWrite(8, Speed);
  analogWrite(7, Speed);
  digitalWrite(6, LOW);
}
void Stop()
{
  digitalWrite(13, LOW);
  digitalWrite(12, LOW);
}

UPDATE: 8/21/2017

Dear: LMR

I managed to get the robot to obstacle avoid better. Enjoy the new video and thanks to all those who had helped me. It means a lot.

From: Noah

#include <NewPing.h>
NewPing sonar(3, 5, 200);
void setup() {
  // put your setup code here, to run once:
 Serial.begin(9600);
 pinMode(13, OUTPUT);
 pinMode(12, OUTPUT);
 pinMode(9, OUTPUT);
 pinMode(8, OUTPUT);
 pinMode(7, OUTPUT);
 pinMode(6, OUTPUT);
}

void loop() {
  // put your main code here, to run repeatedly:
  Forward(255);
  if(sonar.ping_cm() <= 30)
  {
    Backward(255);
    delay(1000);
    CCW(255);
    delay(250);
    Stop();
    delay(1000);
  }
}
void Forward(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  analogWrite(9, Speed);
  digitalWrite(8, LOW);
  analogWrite(7, Speed);
  digitalWrite(6, LOW);
 
}
void Backward(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  digitalWrite(9, LOW);
  analogWrite(8, Speed);
  digitalWrite(7, LOW);
  analogWrite(6, Speed);
}
void CCW(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  analogWrite(9, Speed);
  digitalWrite(8, LOW);
  digitalWrite(7, LOW);
  analogWrite(6, Speed);
}
void CW(int Speed)
{
  digitalWrite(13, HIGH);
  digitalWrite(12, HIGH);
  digitalWrite(9, LOW);
  analogWrite(8, Speed);
  analogWrite(7, Speed);
  digitalWrite(6, LOW);
}
void Stop()
{
  digitalWrite(13, LOW);
  digitalWrite(12, LOW);
}