/* bump.nqc
 *
 * Drive forward until hitting an obstacle, then back up,
 * turn right a little, and resume.
 */

// motors and sensors
#define LEFT    OUT_A
#define RIGHT   OUT_C
#define BUMPER  SENSOR_1

// timing
#define BUMP_BACK_TIME  60  // 0.6 seconds
#define BUMP_SPIN_TIME  20  // 0.2 seconds

task main()
{
	// setup sensor and start driving
	SetSensor(BUMPER, SENSOR_TOUCH);
	OnFwd(LEFT+RIGHT);
	
	while(true)
	{
		// wait for bumper to be activated
		until(BUMPER==0);
		
		// back up a bit		
		OnRev(LEFT+RIGHT);
		Wait(BUMP_BACK_TIME);
		
		// spin a bit
		Fwd(LEFT);
		Wait(BUMP_SPIN_TIME);
		
		// resume
		Fwd(RIGHT);
	}
}