int forage_left = 0; int forage_right = 0;

task forage() {
	
	while(true) {
		// NOTE: No suppression
		
		// Go forwards
		forage_left = MOVING_SPEED;
		forage_right = MOVING_SPEED;
		
		// Set the motors to turn. We can then almost hardcode the turning logic in a 'scan' function later. 
		T1.reset();
		if(Time1(T1) >= random(2000)) {
			// turn
			forage_left = TURNING_SPEED;
			forage_right = -TURNING_SPEED;
		}
	}
}