Mouse in a box sketch

Here's the mousebox.ino sketch. This keeps the mouse in a box of walls, changing direction if it comes near a wall.

MOUSEBOX

/* *** mousebox skech *** 16-7-14
sketch to run mouse in a box without touching the sides
 makes random moves
 */
#include 
#include "MouseSensors.h"
#include "MouseMotors.h"


// LED & button pins
#define LED 13
#define BUTTON 12

MouseMotors motors; // create motors object
MouseSensors sensors; // pass pin numbers to sensors object

void setup()
{
  Serial.begin(9600); // start serial comms

  motors.attach(); // attach servos
  sensors.enable(); // enable emiiter ports

  pinMode(LED, OUTPUT); // LED output
  pinMode(BUTTON, INPUT_PULLUP); // input is from button pin to GND

  // *** START
  while(digitalRead(BUTTON)); // wait for button press
  delay(100);
  while(!digitalRead(BUTTON)); // wait for button release
  digitalWrite(LED, HIGH); // LED on is a go
}

void loop()
{ 
  // avoid walls of box
  avoid(sensors.state());
}

void avoid(byte event) // take avoiding action depending on sensor event
{
  switch(event)
  {
  case 1: // north
    motors.turn(W, 90);
    sensors.init();
    break;
  case 2:  // west & north west
  case 3:
    motors.turn(E, 45);
    sensors.init();
    break;
  case 4: // east and north east
  case 5:
    motors.turn(W, 45);
    sensors.init();
    break;
  case 6: // east & west
  case 7: // east, north & west
    motors.turn(E, 180);
    sensors.init(); 
  default:
    motors.fwd(0,0); // forwards, continuous, no error correction
  }
}