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Hey Mark, We are working on similar project using Fuzzy logic. We have built a Adaptive cruise control using Fuzzy logic. We used three IR Sharp sensors to control the car position and speed. Currently, we are running into some problems with IR sensors as they are capturing random light and shadow which is making fuzzy logic go crazy... So we decided to replace IR sensors with Parallax Ultrasonic Distance Sensor (http://www.parallax.com/dl/docs/prod/acc/28015-PING-v1.3.pdf) but we are having issues to make it work... We saw you used similar type of sensor and we would really appreciate if you can help us with your C code for ultrasonic sensor. Thanking in advance... Cheers, Nitesh