#include "MeMCore.h"

MeUltrasonicSensor ultrasensor(PORT_3);
MeDCMotor motor1(9);
MeDCMotor motor2(10);
uint8_t motorSpeed = 100;

void setup() {
  // put your setup code here, to run once:
  Serial.begin(9600);
  randomSeed(analogRead(A0));
}

void loop() {
  // put your main code here, to run repeatedly:
  if (ultrasensor.distanceCm() > 10) {
    motor1.run(-motorSpeed);
    motor2.run(motorSpeed);
  } else {
    motor1.stop();
    motor2.stop();
    delay(500);

    // Random rotation duration between 500 ms and 2000 ms
    unsigned long rotationDuration = random(500, 2001);

    // Random rotation angle between 45 and 315 degrees
    int rotationAngle = random(60, 316);
    unsigned long rotationTime = map(rotationAngle, 0, 360, 0, rotationDuration);

    // Rotate in a random direction
    if (random(0, 2) == 0) { // 50% chance of being CW or CCW
      motor1.run(-motorSpeed);
      motor2.run(-motorSpeed);
    } else {
      motor1.run(motorSpeed);
      motor2.run(motorSpeed);
    }

    delay(rotationTime);

    motor1.stop();
    motor2.stop();
    delay(500);
  }
}