//PROGRAM # 2

//BUMP A LOT---- 'Tankbot' design p.83. 1 touch sensor with the bumper of your choice. Robot backs up and turns right when it hits //something. Uses two tasks (main & bump)

// sensors- Calls the sensor at port 2 “BUMP”

#define BUMP SENSOR_2

// motors- Calls the motors “LEFT” & “RIGHT”

#define LEFT OUT_A

#define RIGHT OUT_C

// other constants

#define TURN_TIME 150 //1 1/2 second

#define REV_TIME 50 // 1/2 second

task main()

{

// configure sensor- Tells the RCX that the sensor at port 2 (BUMP) is a

//touch sensor

SetSensor(BUMP, SENSOR_TOUCH);

//Robot moves forward

On(LEFT+RIGHT); //turns LEFT & RIGHT motor on

// begin task called “bump”

start bump;

}//main

//this task has the robot back up, turn right, and move forward if the touch

//sensor is pressed

task bump()

{

while(true) //’while’ statement necessary or the robot will perform task

//only ONE time

{

until(BUMP==1); //BUMP sensor =1 when pressed

// back up

Rev(LEFT+RIGHT);

Wait(REV_TIME);

// spin around

Fwd(LEFT);

Wait(TURN_TIME);

// resume

Fwd(RIGHT);

}

}