How many times can you spot the letter e in:
//   Start from home !!!!!!!
Save the time that you start moving and only start the next move when the required period has elapsed. Keep the loop() function running freely and you can blink LEDs to your hearts content using the BWOD principle during the movement.
Have not got as far as getting rid of the delays in the Bot program. Im just learning, so Im trying to keep it simple for right now. What Im trying to figure out is how to run the BWOD for the LEDS and the motors at the same time. Or am I just over my head for right now? Of course Im like every newbe and was hoping for a simple answer. I may have to do some more reading about what you are telling to do. I was looking at getting rid of the  delays  and using BWOD to set the motors run time.
If you use delays like you do, you will not be able to blink the LEDs - but the delays are quite easy to get rid of..
This will not block and should (with minor modifications) work nicely.
Ok thanks, not sure what all that means, but it gives me a place to start. What I do is look up each part of the line of code eg:  DURATIONS  and try to understand each part. And then go from there. The only part that scares me is (with minor modifications) part. But with some reading I hope it will work nicely.
user
In the text, there are one hundred and two "e"s.
assistant