Robot

gistfile1.sh

#pragma config(Motor,  port2,           frontRightMotor, tmotorNormal, openLoop)
#pragma config(Motor,  port3,           backRightMotor, tmotorNormal, openLoop)
#pragma config(Motor,  port4,           frontLeftMotor, tmotorNormal, openLoop, reversed)
#pragma config(Motor,  port5,           backLeftMotor, tmotorNormal, openLoop, reversed)
#pragma config(Sensor, dgtl11,                         frontRightbumper, sensorTouch)
#pragma config(Sensor, dgtl12,                         frontLeftbumper, sensorTouch)
#pragma config(Sensor, dgtl5,                         backrightbumper, sensorTouch)
#pragma config(Sensor, dgtl4,                         backLeftbumper, sensorTouch)

task moveBackwards()
{
      motor[frontRightMotor] = -127;
      motor[backRightMotor]  = -127;
      motor[frontLeftMotor] = -127;
      motor[backLeftMotor]  = -127;
}

task moveForwards()
{
      motor[frontRightMotor] = 127;
      motor[backRightMotor]  = 127;
      motor[frontLeftMotor] = 127;
      motor[backLeftMotor]  = 127;
}

task main()
{
  wait1Msec(1500);
  moveForwards();
  while(true)
  {
    if (SensorValue(dgtl11) == 0)
    {
      moveForwards();
    }
    else
    {
      moveBackwards();
      
      # Instead of waiting 3 seconds here
      #    you could record which sensor was pressed last and when it was pressed
      #    and inside your while(true) loop, do things based on which sensor was pressed when
      #    and never wait for more than a half second, so you have quicker responses.
      # It doesn't look like this code can be asyncronous, so you need to have a tight fast loop.
      wait1Msec(3000);
      
      motor[frontRightMotor] = -100;
      motor[backRightMotor]  = -100;
      motor[frontLeftMotor] = 100;
      motor[backLeftMotor]  = 100;
      wait1Msec(5000);
    }
    if (SensorValue(dgtl12) == 0)
    {
      motor[frontRightMotor] = 127;
      motor[frontRightMotor]  = 127;
      motor[backRightMotor] = 127;
      motor[backLeftMotor]  = 127;
    }
    else
    {
      motor[frontRightMotor] = -127;
      motor[backRightMotor]  = -127;
      motor[frontLeftMotor] = -127;
      motor[backLeftMotor]  = -127;
      wait1Msec(3000);
      motor[frontRightMotor] = 100;
      motor[backRightMotor]  = 100;
      motor[frontLeftMotor] = -100;
      motor[backLeftMotor]  = -100;
      wait1Msec(5000);
    }
    if (SensorValue(dgtl5) == 0)
    {
      motor[frontRightMotor] = 127;
      motor[frontRightMotor]  = 127;
      motor[backRightMotor] = 127;
      motor[backLeftMotor]  = 127;
    }
    else
    {
      Sleep(2000);
      motor[frontRightMotor] = 127;
      motor[backRightMotor]  = 127;
      motor[frontLeftMotor] = 127;
      motor[backLeftMotor]  = 127;
      wait1Msec(2000);
      motor[frontRightMotor] = -127;
      motor[backRightMotor]  = -127;
      motor[frontLeftMotor] = 127;
      motor[backLeftMotor]  = 127;
      wait1Msec(15000);
    }
    if (SensorValue(dgtl4) == 0)
    {
      motor[frontRightMotor] = 127;
      motor[frontRightMotor]  = 127;
      motor[backRightMotor] = 127;
      motor[backLeftMotor]  = 127;
    }
    else
    {
      Sleep(2000);
      motor[frontRightMotor] = 127;
      motor[backRightMotor]  = 127;
      motor[frontLeftMotor] = 127;
      motor[backLeftMotor]  = 127;
      wait1Msec(2000);
      motor[frontRightMotor] = 127;
      motor[backRightMotor]  = 127;
      motor[frontLeftMotor] = -127;
      motor[backLeftMotor]  = -127;
      wait1Msec(15000);
    }


  }
}