Lab7.markdown

@@ -80,9 +80,11 @@ Change the program so that the car drives backwards a little when all the three
 We wish to implement a behavior that handles a situation where the robot is close to a surface in the directions front, left and right and makes a u-turn and drives in the opposite direction. To do this we use the following code (Fig.4):
 
 ```
-// Back up and turn 180 degrees. 
+ while ( true )
+        {
+// Back up and turn 180 degrees
 
-            if ( leftDistance < stopThreshold  ){
+            if ( leftDistance < stopThreshold && rightDistance < stopThreshold && frontDistance < stopThreshold ){
             	
             	// back up
             	car.backward(power, power);
@@ -94,6 +96,7 @@ We wish to implement a behavior that handles a situation where the robot is clos
             	car.backward(0, power);
             	Delay.msDelay(2000);
             }
+}
 ```
 ##### Fig.4 - Code used to implement a U-turn behavior.
 If all distances are less than the stopThreshold the car backs up a little before it turns 180 degrees.