Here is the main sketch that I want to combine with ultrasound:


/*
 * Robotics with the BOE Shield - FastIrRoaming
 * Adaptation of RoamingWithWhiskers with IR object detection instead of
 * contact switches
 */


#include <Servo.h>                           // Include servo library
     
Servo servoLeft;                             // Declare left and right servos
Servo servoRight;
 
void setup()                                 // Built-in initialization block
{
  pinMode(10, INPUT);  pinMode(9, OUTPUT);   // Left IR LED & Receiver
  pinMode(3, INPUT);  pinMode(2, OUTPUT);  // Right IR LED & Receiver
  pinMode(8, OUTPUT); pinMode(7, OUTPUT);    // Indicator LEDs


  tone(4, 3000, 1000);                       // Play tone for 1 second
  delay(1000);                               // Delay to finish tone


  servoLeft.attach(13);                      // Attach left signal to pin 13
  servoRight.attach(12);                     // Attach right signal to pin 12
}  
 
void loop()                                  // Main loop auto-repeats
{
 
  int irLeft = irDetect(9, 10, 38000);       // Check for object on left
  int irRight = irDetect(2, 3, 38000);   // Check for object on right
  digitalWrite(8, !irLeft);                  // LED states opposite of IR   
  digitalWrite(7, !irRight);


  if((irLeft == 0) && (irRight == 0))        // If both sides detect
  {
    maneuver(-200, -200, 20);                // Backward 20 milliseconds
  }
  else if(irLeft == 0)                       // If only left side detects
  {
    maneuver(200, -200, 20);                 // Right for 20 ms
  }
  else if(irRight == 0)                      // If only right side detects
  {
    maneuver(-200, 200, 20);                 // Left for 20 ms
  }
  else                                       // Otherwise, no IR detects
  {
    maneuver(200, 200, 20);                  // Forward 20 ms
  }
}


int irDetect(int irLedPin, int irReceiverPin, long frequency)
{
  tone(irLedPin, frequency, 8);              // IRLED 38 kHz for at least 1 ms
  delay(1);                                  // Wait 1 ms
  int ir = digitalRead(irReceiverPin);       // IR receiver -> ir variable
  delay(1);                                  // Down time before recheck
  return ir;                                 // Return 1 no detect, 0 detect
}  


void maneuver(int speedLeft, int speedRight, int msTime)
{
  // speedLeft, speedRight ranges: Backward  Linear  Stop  Linear   Forward
  //                               -200      -100......0......100       200
  servoLeft.writeMicroseconds(1500 + speedLeft);   // Set left servo speed
  servoRight.writeMicroseconds(1500 - speedRight); // Set right servo speed
  if(msTime==-1)                                   // if msTime = -1
  {                                  
    servoLeft.detach();                            // Stop servo signals
    servoRight.detach();   
  }
  delay(msTime);                                   // Delay for msTime
}








Here is ultrasound sketch


// ---------------------------------------------------------------------------
// Example NewPing library sketch that does a ping about 20 times per second.
// ---------------------------------------------------------------------------


#include <NewPing.h>


#define TRIGGER_PIN  5  // Arduino pin tied to trigger pin on the ultrasonic sensor.
#define ECHO_PIN     6  // Arduino pin tied to echo pin on the ultrasonic sensor.
#define MAX_DISTANCE 200 // Maximum distance we want to ping for (in centimeters). Maximum sensor distance is rated at 400-500cm.


NewPing sonar(TRIGGER_PIN, ECHO_PIN, MAX_DISTANCE); // NewPing setup of pins and maximum distance.


void setup() {
  Serial.begin(115200); // Open serial monitor at 115200 baud to see ping results.
}


void loop() {
  delay(50);                      // Wait 50ms between pings (about 20 pings/sec). 29ms should be the shortest delay between pings.
  unsigned int uS = sonar.ping(); // Send ping, get ping time in microseconds (uS).
  Serial.print("Ping: ");
  Serial.print(uS / US_ROUNDTRIP_CM); // Convert ping time to distance and print result (0 = outside set distance range, no ping echo)
  Serial.println("cm");
}