#include <Mirobot.h>
#include <EEPROM.h>
/*
* les fins de courses semblent etre sur  A3 et A4 reliant le GND a ces pins.
* moteur1:
arecabler
i1=P8,
i2=P10,
i3=P11,
i14=p12
 
moteur2:
i1=P4,
i2=P5,
i3=P6,
i4=P7

pen servo:p3
 
speaker: pin9
 
This sketch demonstrates simple collision detection without using the built in library
code from https://github.com/mirobot/mirobot-arduino by http://www.Mirobot.io
*/
 
Mirobot mirobot;
typedef enum {M_NORMAL, M_RIGHT_REVERSE, M_RIGHT_TURN, M_LEFT_REVERSE, M_LEFT_TURN} collideState_ty;
collideState_ty collideState;

void star(){
    //draw a star
  mirobot.pendown();
  for(char i=0; i<5; i++){
    mirobot.forward(100);
    mirobot.right(144);
  }
  mirobot.penup();
}

void square(){
    //draw a square
  mirobot.pendown();

  for(char i=0; i<4; i++){
    mirobot.forward(100);
    mirobot.right(90);
  }
  mirobot.penup();
}
void setup(){
  mirobot.setup();
    mirobot.penup();

   square();
  mirobot.forward(15);
star();

  Serial.begin(57600);
  mirobot.setup(Serial);
}
 
void loop(){
  boolean collideLeft = !digitalRead(LEFT_COLLIDE_SENSOR);
  boolean collideRight = !digitalRead(RIGHT_COLLIDE_SENSOR);
  if(collideState == M_NORMAL){
    if(collideLeft){
      collideState = M_LEFT_REVERSE;
      mirobot.back(50);
    }else if(collideRight){
      collideState = M_RIGHT_REVERSE;
      //recule de 50
      mirobot.back(50);
    }else{
      //avance de 10
      mirobot.forward(10);
    }
  }else if(mirobot.ready()){
    switch(collideState){
      case M_LEFT_REVERSE :
        collideState = M_LEFT_TURN;
        mirobot.right(90);
        break;
      case M_RIGHT_REVERSE :
        collideState = M_RIGHT_TURN;
        mirobot.left(90);
        break;
      case M_LEFT_TURN :
      case M_RIGHT_TURN :
        collideState = M_NORMAL;
    }
  }
    mirobot.process();


<br>
}