The hardest thing is always the next step. The Ultimate TABLEBot needs a check of the Swivel "Ping!" sensor. BTW: If you haven't tried a "Ping!" you're missing the best sensor in the world... so far. One wire ultrasonic; Pulsout... Pulsin. 5 for $100... eat'em like popcorn.
Did that check... am getting consistent readings as the sensor turns from left to right. Its raw distance time-of- flight is ~5600 or 11200 micro-seconds for about 3'.