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I have been building an obstacle colliding robot. I previously asked for help regarding this, but since it was on a different topic I opened a new thread. So my problem is that every now and then my range reading is dropping to 4 then back to the correct reading. (The number isn't always four it...

I needed to a code a robot which can collide to its obstacle. I am using the SRF005 Ultrasonic Sensor to measure the distance. However in my code down below, my pauses in parallel task are horribly off, like pause 500 is 4-5 second long. Could anyone please explain this. Also if my range goes...