//roverbot go back to its starting position after its bumper is hit
//you may notice that it does not exactly go to its initial position if
//say its wheels slip or the ground is uneven
int returntime ;
void go_forward()
{
ClearTimer(0); //start timer(0)
OnFwd (OUT_A+OUT_C);
until (SENSOR_2 ==1);
returntime = Timer(0); //store value of Timer(0) when bumper is hit
}
void go_back()
{
OnFwd(OUT_A); OnRev(OUT_C); Wait (220); //to make a 180 degree turn. might have to change the wait time
ClearTimer(0); //timer(0) started
OnFwd(OUT_A+OUT_C);
until ( Timer(0) > returntime );
Off (OUT_A+OUT_C); //switch off motor after coming back
}
task main()
{
SetSensor(SENSOR_2, SENSOR_TOUCH); //touch sensor attached to sensor 2
go_forward();
until (SENSOR_2 ==1);
go_back();
}