I put together the "start here" robot and it worked perfectly, I then put together a chassis (foamcore, glue gun and thick wire), added a switch to turn it on/off and added a LED so it could communicate a few things and help debug. All this worked well but then I turned it on again and now the servo is acting completely erraticaly. In the "whichway" subroutine it now only looks left and then proceeds to move forward. Every time.