loop:

'stop
	low 6
	low 7
      low 4
	low 5

	infrain2
	    'debug infra
	    'goto loop
	if infra = 0 then sw1	'button1=0
	if infra = 1 then sw2
	if infra = 2 then sw3
	if infra = 3 then sw4

goto loop

sw1:	   
'forward
      low 4
	high 6
	low 5
	high 7

if pin2 = 1 then avoid
goto sw1

goto loop

sw2:	
gosub forw
pause 500
gosub stop1
pause 100
gosub left
pause 100
gosub stop1
pause 100
gosub forw
pause 500
gosub stop1
gosub left    '180 deg
pause 200
gosub stop1
pause 200
gosub forw
pause 600
gosub stop1

	goto loop

sw3:  
'forward
      low 4   'left for
      low 5

b8=1   'forward
for b8=1 to 150 
high 6 'left
high 7  'right
pause 4
low 6
low 7
pause 20
next b8

pause 500

b6=1   'left turn
for b6=1 to 170 
'high 6 'left motor
high 7  'right
pause 4
'low 6
low 7
pause 20
next b6

	
b8=1   'forward
for b8=1 to 100 
high 6 'left
high 7  'right
pause 4
low 6
low 7
pause 20
next b8

      low 4   'stop
	low 5
	low 6
	low 7
pause 400

b4=1   'left rotate
for b4=1 to 210 
low 4
high 6  
high 5
low 7
pause 4
low 6
low 5
pause 40
next b4

	goto loop

sw4:
b4=1   'left rotate
for b4=1 to 210 
low 4
high 6  
high 5
low 7
pause 3
low 6
low 5
pause 40
next b4

	'program 3
	goto loop


      'gosubs
forw:
	low 4
	high 6
	low 5
	high 7
return

stop1:
	low 4
	low 5
	low 6
	low 7
pause 100
return

rev1:
	high 4
	low 6
	high 5
	low 7
return

left:
	high 4
	low 6
	low 5
	high 7

return

    'gotos

avoid:
	gosub stop1
pause 1000
	gosub rev1
pause 100
	gosub stop1
pause 1000
	gosub left
pause 100
	gosub stop1
goto loop