Use UltraBorg to control DiggyBorg

I still cant get him to turn right, he just backs off?

The code ammended DFD python is here

#!/usr/bin/env python
# coding: latin-1

# Import the libraries we need
import UltraBorg
import PicoBorgRev
import time
import math
import sys

#  Settings
distanceMin = 200.0             # Minimum distance in mm, corresponds to DiddyBorg reversing at 100%
distanceMax = 500.0             # Maximum distance in mm, corresponds to DiddyBorg driving at 100%
#LeftMin = 200
#RightMin = 200
#Replace with TurnMin
TurnMin = 200

# Start the UltraBorg
UB = UltraBorg.UltraBorg()      # Create a new UltraBorg object
UB.Init()                       # Set the board up (checks the board is connected)

# Setup the PicoBorg Reverse
PBR = PicoBorgRev.PicoBorgRev()
#PBR.i2cAddress = 0x44                  # Uncomment and change the value if you have changed the board address
PBR.Init()
if not PBR.foundChip:
    boards = PicoBorgRev.ScanForPicoBorgReverse()
    if len(boards) == 0:
        print 'No PicoBorg Reverse found, check you are attached :)'
    else:
        print 'No PicoBorg Reverse at address %02X, but we did find boards:' % (PBR.i2cAddress)
        for board in boards:
            print '    %02X (%d)' % (board, board)
        print 'If you need to change the I²C address change the setup line so it is correct, e.g.'
        print 'PBR.i2cAddress = 0x%02X' % (boards[0])
    sys.exit()
#PBR.SetEpoIgnore(True)                 # Uncomment to disable EPO latch, needed if you do not have a switch / jumper
PBR.SetCommsFailsafe(False)             # Disable the communications failsafe
PBR.ResetEpo()

# Power settings
voltageIn = 12.0 * 1.2                       # Total battery voltage to the PicoBorg Reverse
voltageOut = 12.0 * 0.90                       # Maximum motor voltage

print voltageIn

# Setup the power limits
if voltageOut > voltageIn:
    maxPower = 1.0
else:
    maxPower = voltageOut / float(voltageIn)

# Calculate our divisor
distanceDiv = (distanceMax - distanceMin) / 2.0

# Loop over the sequence until the user presses CTRL+C
print 'Press CTRL+C to finish'
try:
    # Initial settings
    speed = 0.0
    driveLeft = 0.0
    driveRight = 0.0
    while True:
        # Read all four ultrasonic values, we use the filtered values so we get accurate readings
        usm1 = UB.GetDistance1()
        usm2 = UB.GetDistance2()
        usm3 = UB.GetDistance3()
        #usm4 = UB.GetDistance4()
        # Convert to the nearest millimeter
        usm1 = int(usm1)
        usm2 = int(usm2)
        usm3 = int(usm3)
        #usm4 = int(usm4)
        # Determine the speed of DiddyBorg based on the distance readings
        print '     LEFT     MIDDLE     RIGHT'
        print 'USM2 ',usm2, 'USM1 ',usm1, ' USM3 ',usm3
        if usm1 and usm2 and usm3 != 0:
            speed = ((usm1 - distanceMin) / distanceDiv) - 1.0
            if speed > 1.0:
                speed = 1.0
            elif speed < -1.0:
                speed = -1.0
        driveLeft = speed
        driveRight = speed
        # Set our new speed based on all three sensors
 
        # Turn one way while less and less than LeftMin
        if usm2 < usm1 or usm3 < usm1:
 
            # Turn one way while less and less than TurnMin
            if usm2 < usm3 and usm2 < TurnMin: 
                PBR.SetMotor1(driveRight * maxPower)
                PBR.SetMotor2(driveLeft * maxPower)
 
            # Turn the other way while less and less than TurnMin
            elif usm3 < usm2 and usm3 < TurnMin:
                PBR.SetMotor1(-driveRight * maxPower)
                PBR.SetMotor2(driveLeft * maxPower)
 
            # For anything else use the standard distance movement
            else:
                PBR.SetMotor1(driveLeft * maxPower)
                PBR.SetMotor2(-driveRight * maxPower)
 
        # No need to turn
        else:
            PBR.SetMotor1(driveLeft * maxPower)
            PBR.SetMotor2(-driveRight * maxPower)
 
        # Wait between readings
        time.sleep(.05)
except KeyboardInterrupt:
    # User has pressed CTRL+C
    PBR.MotorsOff()
    print 'Done'

I might have left and right a bit mixed but either way he won't turn right or perhaps better put as only clearly turning one way. But does 'randomly'? turn the other way a bit!!

Also think I might not be dealing with if all are below minimum he can try to keep going forward?

That helps, thanks :)
It all looks good to me, everything should work correctly wired like that.