SYMBOL Detectors = B0
SYMBOL RightDetect = BIT0
SYMBOL LeftDetect = BIT1

Drive_Robot:
  GOSUB Forwards
  PAUSE 2000
  GOSUB Freeze
  GOSUB Right
  PAUSE 1000
  GOSUB Freeze
  GOSUB Backwards
  PAUSE 1500
  GOSUB Freeze
  GOSUB Left
  PAUSE 2000
  GOSUB Freeze
  GOTO Drive_Robot
  
Right:
  HIGH 2
  LOW 3
  LOW 4
  HIGH 5
  RETURN

Left:
  LOW 2
  HIGH 3
  HIGH 4
  LOW 5
  RETURN

Backwards:
  HIGH 2
  LOW 3
  HIGH 4
  LOW 5
  RETURN
  
Forwards:
  LOW 2
  HIGH 3
  LOW 4
  HIGH 5
  RETURN
  
Freeze:
  LOW 2
  LOW 3
  LOW 4
  LOW 5
  PAUSE 500
  RETURN 
  
  END