/* Techno-stuff DIRPD Obsatcle Avoiding Program */
/* Written by: Miles */
/* Version 1.1 */

/* Please adjust the DIRPD value numbers to your own
   until the next version comes out. */

#define REV_TIME 50
#define TRN_TIME 50 + Random(100)
#define DIRPD SENSOR_1


task main()

{

// Your DIRPD sensor should be on port 1.
SetSensor(DIRPD, SENSOR_LIGHT);
OnFwd (OUT_AC); // The robot goes forward.

      while (true)
      
      {
      
      if (DIRPD == 0)
      // if the DIRPD senses an object in front...

         {
         
         OnRev (OUT_AC);
         Wait (REV_TIME);
         OnFwd (OUT_A);
         Wait (TRN_TIME);
         OnFwd (OUT_C);
         
         }

      if (DIRPD == 22)
      // if the DIRPD senses an object to the left...

         {
         
         OnRev (OUT_C);
         Wait (TRN_TIME);
         OnFwd (OUT_C);

         }
         
      if (DIRPD == 48)
      // if the DIRPD senses an object to the right...

         {
         
         OnRev (OUT_A);
         Wait (TRN_TIME);
         OnFwd (OUT_A);
         
         }
         
      }

}