task main ()
{
SetSensor (SENSOR_1, SENSOR_TOUCH) ; //touch sensor attached to 1
start check_sensor ;
start move_now ;
}
task move_now ()
{
while (true)
{
OnFwd (OUT_A+OUT_C);Wait (300); //move forward while true for 3 sec
}
}
task check_sensor ()
{
while (true)
{
if ((SENSOR_1 == 1) && (Random (1) ==0))
{
stop move_now ;
OnRev (OUT_A+OUT_C) ; Wait (100); //back up for 1 sec
OnFwd (OUT_A) ; Wait (100); //100 for a turn right.
start move_now;
}
if ((SENSOR_1 == 1) && (Random (1) ==1))
{
stop move_now ;
OnRev (OUT_A+OUT_C) ; Wait (100); //back up for 1 sec
OnFwd (OUT_C) ; Wait (100); //100 for a turn left
start move_now;
}
}
}