//Bumper2.nqc
//Written by Henry Chea 5-25-99
//tests simple touch sensor and IR pulse bumper input reactions and motor control
#define LEFT OUT_A
#define RIGHT OUT_C
#define EYE IN_3
#define BUMPER IN_1

int Level;

task main
{
  Sensor( BUMPER, IN_SWITCH ); //defines bumper sensor type
  Sensor( EYE, IN_LIGHT );

  Fwd( LEFT + RIGHT, OUT_FULL );  //starts moving vehicle forward

    start sendsignal;
    start proximity;

}


task sendsignal
{

  while( true ){
    SendMessage( 255 );
	Sleep( 10 );
  }
}

task proximity{

  
  while( true ){
    Level = EYE;
	if( EYE > Level + 20 ){
	  Off(LEFT + RIGHT);
	  Sleep(10);
	  Rev(LEFT + RIGHT, OUT_FULL);
	  Sleep( 100 );
	  Fwd(RIGHT, OUT_FULL);
	  Sleep(Random( 350 ) );
	  Fwd(LEFT + RIGHT, OUT_FULL);
	}
  }
}