#define LEFT_TOUCH IN_1
#define RIGHT_TOUCH IN_3
#define EYE IN_2

#define LEFT_MOTOR OUT_A
#define RIGHT_MOTOR OUT_C

#define BUMP_NONE 0
#define BUMP_LEFT 1
#define BUMP_RIGHT 2

int seedark;
int newdark;
int bumpside;
int bumpswap;

task main
{
  start eyeball;

  Sensor(LEFT_TOUCH, IN_SWITCH);
  Sensor(RIGHT_TOUCH, IN_SWITCH);
  Fwd(LEFT_MOTOR + RIGHT_MOTOR, 4);

  bumpside = BUMP_NONE;
  bumpswap = 0;

  while (true)
  {
    if (LEFT_TOUCH == 1)
    {
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Sleep(100);
      Rev(LEFT_MOTOR + RIGHT_MOTOR, 4);
      Sleep(100);
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Rev(LEFT_MOTOR, 4);
      Sleep(40);
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Fwd(LEFT_MOTOR + RIGHT_MOTOR, 4);

      if (bumpside == BUMP_RIGHT) bumpswap += 1;
      else bumpswap = 0;
      bumpside = BUMP_LEFT;
    }
    else if (RIGHT_TOUCH == 1)
    {
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Sleep(100);
      Rev(LEFT_MOTOR + RIGHT_MOTOR, 4);
      Sleep(100);
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Rev(RIGHT_MOTOR, 4);
      Sleep(40);
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Fwd(LEFT_MOTOR + RIGHT_MOTOR, 4);

      if (bumpside == BUMP_LEFT) bumpswap += 1;
      else bumpswap = 0;
      bumpside = BUMP_RIGHT;
    }

    if (bumpswap == 5)
    {
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Rev(RIGHT_MOTOR, 4);
      Sleep(100);
      bumpswap = 0;
      Off(LEFT_MOTOR + RIGHT_MOTOR);
      Fwd(LEFT_MOTOR + RIGHT_MOTOR, 4);
    }
  }
}

task eyeball
{
  seedark = 0;
  newdark = 0;

  Sensor(EYE, IN_LIGHT);

  while (true)
  {
    if (EYE < 40)
    {
      if (seedark == 0)
      {
        newdark = 1;
        seedark = 1;
      }
      else newdark = 0;
    }
    else
    {
      seedark = 0;
      newdark = 0;
    }
    if (newdark == 1) PlayNote(400, 100);
  }
}