This is as far as I’ve managed to get without the proper Rotacaster Omni-wheels on my main Omni-directional robot. The legs can be raised & lowered independently, to lift the body 150+mm above the floor. The 3x Ultrasonic Sensors appear to be working together and measures the distance to objects o.k.I’m now working on programming the behaviours and using the Playstation 2 Controller.