task main() { /* */ short touched_count = 0; const short wall_count = 4; const float speed = 100; /* four walls should be touched */ while(touched_count < wall_count){ // starts to go forward setMotorSpeed(leftMotor, speed); setMotorSpeed(rightMotor, speed); // loop untill touched a wall while(getBumperValue(bumpSwitch) == 1){ ++touched_count; // backward a little setMotorSpeed(leftMotor, -speed); setMotorSpeed(rightMotor, -speed); sleep(300); // turn left 90 degrees setMotorSpeed(leftMotor, -speed); setMotorSpeed(rightMotor, speed); sleep(470); // when the speed is 100, it is exact 90 degrees } } /* */ stopAllMotors(); }