#pragma config(Sensor, dgtl11, bumpy,          sensorTouch)
#pragma config(Motor,  port2,           rightMotor,    tmotorServoContinuousRotation, openLoop, reversed)
#pragma config(Motor,  port3,           leftMotor,     tmotorServoContinuousRotation, openLoop)

//below are functions to shorten my code
//"backup" is the function. "backtime" is the variable.
void backup(int backtime)
{
motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
	motor[rightMotor] = -90;
	motor[leftMotor]  = -90;
	wait1Msec(backtime);
	motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
}

void leftturn(int turntime)
{
motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
	motor[rightMotor] = 90;
	motor[leftMotor]  = -90;
	wait1Msec(turntime);
	motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
	}

void rightturn(int turntime)
{
motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
	motor[rightMotor] = -90;
	motor[leftMotor]  = 90;
	wait1Msec(turntime);
	motor[rightMotor] = 0;
	motor[leftMotor]  = 0;
	wait1Msec(200);
	}
//+++++++++++++++++++++++++++++++++++++++++++++| MAIN |+++++++++++++++++++++++++++++++++++++++++++++++
//the functions are "called" by using the function name,
//then the number inside () is the variable value.

	task main()
{
	int counter = 0;
while (true)
{
	motor[rightMotor] = 127;
	motor[leftMotor]  = 127;
//counter is at 0

	if (SensorValue[bumpy] == 1)
	{counter++;}  //counter increases by 1

if(counter == 1)
	{	backup(250);
		leftturn(270);
	counter++;  //counter goes to 2
}
if(counter == 3)
	{	backup(250);
		rightturn(270);
	counter = 0;
}
}

}