Robot freaking out about new code???

hey guys, robot walbot started out using 1 ultrasonic sensor navigate rooms, tried add 2 sharp ir sensors, , updated code work them if senses object on right turn left , vice versa, if 3 sensors blocked turn around. have gotten components work (i have used sharp ir sensors , give me correct values back) when put started getting bunch of whack false readings , became paralyzed. have gone on code couple of times see might causing react strangely can't seem find problem is. appreciated.  

code: [select]

int motor1a = 10;  // h-bridge input 1            
int motor1b = 11;  // h-bridge input 2              
int enable = 3;     // h-bridge motor 1 enable
int motor2a = 9;  // h-bridge input 3            
int motor2b = 8;  // h-bridge input 4              
int enable2 = 5;     // h-bridge motor 2 enable
int infraan1 = 1;    // select input pin infrared sensor
int infraan2 = 2;    // select input pin infrared sensor
float infradist1 = 0;   // variable recieves raw infrared analog data
float infradist2 = 0;   // variable recieves raw infrared analog data
int ultraan = 0;    // select input pin ultrasonic sensor
int ultraenable = 12;    // sets enable pin 12
int ledpin = 13;    // sets indicator led pin 13
float val[10];       // array store first 10 values coming sensor
float valsum=0;      // sum of first 10 readings
float valavg=0;      // average of first 10 readings
float dist = 0;      // variable store converted distance in inches

void straight() // go straight function
{
   digitalwrite(enable, high);
   digitalwrite(motor1a, high);
   digitalwrite(motor1b,low);
   digitalwrite(enable2, high);
   digitalwrite(motor2a, high);
   digitalwrite(motor2b,low);
}

void turnright() // turn right function          
{
   digitalwrite(enable, high);
   digitalwrite(motor1a, low);
   digitalwrite(motor1b,high);
   digitalwrite(enable2, high);
   digitalwrite(motor2a, high);
   digitalwrite(motor2b,low);
}

void turnleft() // turn right function          
{
   digitalwrite(enable, high);
   digitalwrite(motor1a, high);
   digitalwrite(motor1b,low);
   digitalwrite(enable2, high);
   digitalwrite(motor2a, low);
   digitalwrite(motor2b,high);
}

float distcalc() // distance calculating function converts analog input inches
{
valsum = 0;                           // resets valsum 0 after every loop
 for (int i=0; i<=9; i++)              // loop gather first 10 int's
 {
   val[i] = analogread(ultraan);       // read value sensor
   valsum = (val[i]+valsum);           // adds first 10 values averaging
 }
 digitalwrite(ultraenable, low);            // disables sonar
 valavg = (valsum/10);                 // calculates average
 dist = ((valavg/204.8)/.009765625);   // converts analog value distance in inches
 
 return dist;                         // return distance values rest of program
}

void avoidewalls()
{  
   infradist1 = analogread(infraan1);       // read value sensor
   infradist2 = analogread(infraan2);       // read value sensor
   
   if(dist < 16)                            // if distance less 20 inches
 {
   digitalwrite(ledpin, high);             // turn on led
   turnright();                            // turns walbot right using turnright function
   delay(100);
 }
 
   else if(dist < 16 && infradist1 > 220)                            // if distance less 20 inches
 {
   digitalwrite(ledpin, high);             // turn on led
   turnright();                            // turns walbot right using turnright function
   delay(100);
 }
 
   else if(dist < 16 && infradist2 > 220)                            // if distance less 20 inches
 {
   digitalwrite(ledpin, high);             // turn on led
   turnleft();                            // turns walbot right using turnright function
   delay(100);
 }

 
   else if(dist < 16 && infradist2 > 220 && infradist1 > 220)                            // if distance less 20 inches
 {
   digitalwrite(ledpin, high);             // turn on led
   turnleft();                            // turns walbot around using turnright function
   delay(175);                            //delay longer turns 180 degrees
 }
 
 else                                      // otherwise
 {
   digitalwrite(ledpin, low);              // turn off led
   straight();                            // go straight using straight function
 }
}

void setup()
{
 pinmode(motor1a, output);      // sets motor pin 1a output  
 pinmode(motor1b, output);      // sets motor pin 1b output
 pinmode(motor2a, output);      // sets motor pin 2a output
 pinmode(motor2b, output);      // sets motor pin 2b output
 pinmode(enable, output);       // sets enable output
 pinmode(enable2, output);      // sets enable2 output
 pinmode(ultraenable, output);  // sets ultraenable output
 pinmode(ledpin, output);       // sets ledpin output
 
 straight(); // initializes walbot go straight
}

void loop() {
 digitalwrite(ultraenable, high);           // turns on sonar
 distcalc();                                // gets distance value distcalc function
 avoidewalls();                             // tells walbot not run inanimate objects calling avoidewalls function
 delay(20);                                 // delay 20 milliseconds
}


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