A version of the TriBot which deletes the claws and drives the US sensor with motor A. The program travels TriBot forward until it bumps an obstacle, then uses the US scanner to look left and right to determine which direction has the greater distance available, and finally rotates the robot in that direction. Builds off of concepts developed by Robotech in his Alpharex post http://forums.nxtasy.org/index.php?showtopic=80.