Init commit with many years of arduino sketches and projects. I dont know if the esp8266 includes much, but there are also libraries. I hope they dont have crazy automatic versioning through the Arduino IDE.

Projects/ProgLab/Zumo_2/Zumo_2.ino

@@ -0,0 +1,81 @@
+/*
+Drive forward and turn left or right when border is detected
+  - Only reflectionsensor 0 and 5 are used.
+*/
+#include <ZumoMotors.h>
+#include <Pushbutton.h>
+#include <QTRSensors.h>
+#include <ZumoReflectanceSensorArray.h>
+#include <NewPing.h>
+ 
+#define LED 13
+ 
+// this might need to be tuned for different lighting conditions, surfaces, etc.
+#define lightThreshold  1800 // 
+  
+#define reverseSpeed     200
+#define turnSpeed        200
+#define forwardSpeed     100
+#define revDuration      200
+#define turnDuration     500
+ZumoMotors motors;
+Pushbutton button(ZUMO_BUTTON); // pushbutton on pin 12
+#define NUM_SENSORS 6
+unsigned int sensor_values[NUM_SENSORS];
+ZumoReflectanceSensorArray sensors;
+
+const int echoPin1 = 2;
+const int echoPin2 = 4;
+const int triggerPin1 = 3;
+const int triggerPin2 = 5;
+const int maxDistance = 40;
+
+NewPing sonar1(triggerPin1, echoPin1, maxDistance);
+NewPing sonar2(triggerPin2, echoPin2, maxDistance);
+ 
+void setup()
+{
+  Serial.begin(9600);
+   sensors.init();
+   button.waitForButton();
+}
+
+void turnLeft()
+{
+  motors.setSpeeds(-reverseSpeed, -reverseSpeed);
+  delay(revDuration);
+  motors.setSpeeds(turnSpeed, -turnSpeed);
+  delay(turnDuration);
+  motors.setSpeeds(forwardSpeed, forwardSpeed);
+}
+
+void turnRight()
+{
+  motors.setSpeeds(-reverseSpeed, -reverseSpeed);
+  delay(revDuration);
+  motors.setSpeeds(-turnSpeed, turnSpeed);
+  delay(turnDuration);
+  motors.setSpeeds(forwardSpeed, forwardSpeed);
+}
+
+void loop()
+{
+  sensors.read(sensor_values);
+  if (sensor_values[0] < lightThresHold || sensor_values[5] < lightThreshold)
+  {
+    if (sensor_values[0] < lightThreshold)
+    {
+      turnLeft();
+    }
+    else if (sensor_values[5] < lightThreshold)
+    {
+      turnRight();
+    }
+  }
+  
+  unsigned int time = sonar1.ping();
+  if (  
+  
+  // If haven't done anything, go forward
+  motors.setSpeeds(forwardSpeed, forwardSpeed);
+}