Testing is going well.  I am posting the current code which is purely wall avoidance.  I am thinking about extending the range of ultrasonic detection to 4 ft and adding an event at that range for non movement towards the wall.  For now this is what we are going with for our progress review presentation today.

first the current version
one event, triggered at the two ft range.
Wall avoidance one event 2 ft pull away

The next untested version adding another event back in
two events, triggered at two ft and four ft ranges
Wall avoidance two events

Reducing the number of events speeds up the responsiveness, so we are attempting a happy medium with the two events version.  something that will let you get close to the wall.