Manual

28 | P a g e
delay(1000);
Serial.print( "back" );
Serial.println("");
if (random( 1024 )>512)
{
turn_R(240,240);
delay(1000);
Serial.print( "random right" );
Serial.println("");
}
else
{
turn_L(240,240);
delay(1000);
Serial.print( "random left" );
Serial.println("");
}
}
else
{
if (( !( digitalRead( A3) ) || ( !( digitalRead( A2) )
&& !( digitalRead( A3) ) ) ))//read sensor from IR distence switch
{
back_off(240,240);
delay(1000);
turn_L(240,240);
delay(1000);
Serial.print( "back and left" );
Serial.println("");
}
else
{
if (( !( digitalRead( A1) ) || ( !( digitalRead( A1) )
&& !( digitalRead( A2) ) ) ))//read sensor from IR distence switch
{
back_off(240,240);
delay(1000);
turn_R(240,240);
delay(1000);
Serial.print( "back and right" );
Serial.println("");