How can I use HC-SR04 for moving towards an object rather than avoiding? Answered

My aim is to use the HC-SR04 with a servo, and I would like my robot to go to an object to complete a task, How do I use the data to control the wheels so the robot heads in the direction of the closest ping, rather than away? I feel a bit silly for asking to be honest. I will be using two motors where each motor is connected to two wheels via a pulley system.