HM55B with Ping sensor help

biggen00

Hello im in need of some help...I have a BOE-Bot with a BS2 stamp and have a HM55B compass module and the PING ultrasonic sensor on it. What I would like to do with the bot is to have it get through a maze with a direction I want it to face say south for the time. As i start the robot I want it to get its heading then correct itself and then head straight for it. I then want the ping to scan while it is moving forward and if it is clear to keep going forward if not clear then correct itself and then continue. I got most of the code off of the respected sensors page but getting them to work together is what I am struggling with. Any help would be appreciated thanks.

The code that I have so far is attached to the post