Yay for Blocks

I got around my problem. And the answer was blocks.

I create a myblock that has the multiple code in it and then insert that into the program.So here is my main program using blocks. I have had to adjust the sensitivity of the Ultrasonic sensor as it was picking up things that wern't there. The turning and moving forward with all wheels driving was working really well.

Next I need to do edge detection and then the touch sensor and I am done.