#include "robot-config.h"


int main() {


while(true){
    {

  while(Bumper.pressing())
   {
       RightMotor.stop(brakeType::brake);
       LeftMotor.stop(brakeType::brake);
       task::sleep(1000);


       if (Sonar.distance(distanceUnits::cm) < 20 )
       {
       RightMotor.startRotateFor(-.5,rotationUnits::rev,20,velocityUnits::pct);
       LeftMotor.rotateFor(.5,rotationUnits::rev,20,velocityUnits::pct);
       RightMotor.startRotateFor(-1,rotationUnits::rev,20,velocityUnits::pct);
       LeftMotor.rotateFor(1,rotationUnits::rev,20,velocityUnits::pct);

       }
      else
       {
       RightMotor.startRotateFor(.5,rotationUnits::rev,20,velocityUnits::pct);
       LeftMotor.rotateFor(-.5,rotationUnits::rev,20,velocityUnits::pct);
       RightMotor.startRotateFor(-1,rotationUnits::rev,20,velocityUnits::pct);
       LeftMotor.rotateFor(1,rotationUnits::rev,20,velocityUnits::pct);

      RightMotor.stop(brakeType::brake);
      LeftMotor.stop(brakeType::brake);
      RightMotor.spin(directionType::fwd);
      LeftMotor.spin(directionType::fwd);
}
    }
           RightMotor.startRotateFor(1,rotationUnits::rev,50,velocityUnits::pct);
           LeftMotor.startRotateFor(1,rotationUnits::rev,50,velocityUnits::pct);
}
}
}