/*  Evil robot brain! Ultra basic model.  */


int E1 = 6; //M1 Speed Control
int E2 = 5; //M2 Speed Control
int M1 = 8; //M1 Direction Control
int M2 = 7; //M2 Direction Control
const int buttonPin = 12;     // the number of the pushbutton pin
int avoid=0;
int bump=0;


void setup()
{
pinMode(13, OUTPUT);		// Avoid status LED
pinMode(buttonPin, INPUT);	// Bump sensor
analogWrite (E2,255);
analogWrite (E1,255);

}
void loop()
{
bump = digitalRead(buttonPin);	// Read bump sensor
if (bump == HIGH) {		// Have we hit somthing?
  avoid=1;			// Yes! Avoid it!
}

if (avoid == 1) {
  digitalWrite(13, HIGH);	// Avoid start

  digitalWrite(M1,HIGH);
  digitalWrite(M2,HIGH);	// Reverse robot for 1 second
  delay(1000);	

  analogWrite (E2,0);		// Pretend to be a roomba; 
  delay(random(200,5000));	// Switch off one motor for a random 
  analogWrite (E2,255);		// Number of seconds.

  avoid=0;
  digitalWrite(13, LOW);	// Avoid done
}
else {				// No? Then keep going, full speed ahead!
  digitalWrite(M1,LOW);
  digitalWrite(M2,LOW);
}

}