The logic code difuza works this way, we have an entry that is the distance the robot with objects this entry works in triangular functions, output veloccidad in definita code as "timepo" which varies as a value from 0 to 255 as calculated with distance, the rules are simple when the distance is close to the speed will be short, when the distance is half the velodicad will mean and when the distance is far speed will be prolonged.