SYMBOL LeftDetect = B0
SYMBOL RightDetect = B1
symbol Detected = B2


CheapBot_14:
  pause 1000
  gosub forwards 
    
Traveller:
  gosub Proximity_Check
  Detected = LeftDetect + RightDetect
  if Detected = 14 then Traveller 
  if LeftDetect < RightDetect then Turn_Right
  if RightDetect < LeftDetect then Turn_Left
  if RightDetect > 3 then Traveller
  gosub Freeze
  pause 1000
  gosub Right  
  
ClearRight:  
  gosub Proximity_Check
  if LeftDetect < 7 then ClearRight
  gosub Freeze
  pause 500
  gosub Forwards
  goto Traveller  

Turn_Right:
  gosub Right
  gosub Proximity_Check
  if LeftDetect < 7 then Turn_Right
  gosub forwards    
  goto Traveller

Turn_Left:
  gosub Left
  gosub Proximity_Check 
  if RightDetect < 7 then Turn_Left
  gosub forwards    
  goto Traveller

Proximity_Check:
  serin 2,T1200_4,("L"),LeftDetect,RightDetect,RightDetect
  return   
  
Left:
  HIGH 2
  LOW 3
  LOW 4
  HIGH 5
  RETURN

Right:
  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_CheapBot_14:
  END