#define LIGHT_THRESHOLD 42
#define BACK_BUMPER SENSOR_1
#define FRONT_SENSOR SENSOR_3
#define RANDOM_MOVE_TIMER 0
#define RANDOM_MOVE_TIME 15


task main() 
{
	SetPower (OUT_A + OUT_C, OUT_FULL);
    SetSensor (BACK_BUMPER, SENSOR_TOUCH);
    SetSensor (FRONT_SENSOR, SENSOR_LIGHT);

	Rev (OUT_A + OUT_C);
    On (OUT_A + OUT_C);

    while (true) 
	{
		if (FRONT_SENSOR >= LIGHT_THRESHOLD) 
		{
			/* drive back */
			Toggle(OUT_A+OUT_C);
			PlaySound (SOUND_CLICK);
			Wait (Random (75)+75);
			/* turn */
			Toggle(OUT_A);
			Wait (Random (75)+75);
			/* stop turning, drive forward */
			Toggle(OUT_C);
			PlaySound (SOUND_CLICK);
			ClearTimer (RANDOM_MOVE_TIMER);
		}
		else
		{
			if (Timer (RANDOM_MOVE_TIMER) > RANDOM_MOVE_TIME)
			{
				if (Random (100) < 20)
				{
					if (Random (100) < 50)
					{
						Toggle (OUT_C);
						Wait (Random (200)+75);
						Toggle (OUT_C);
					}
					else
					{
						Toggle (OUT_A);
						Wait (Random (250)+75);
						Toggle (OUT_A);
					}

				}
				ClearTimer (RANDOM_MOVE_TIMER);
			}

		}

	}

}

/* vim:ts=4:si:ai:sw=4
*/