Another First Robot based on fritsl design

Here's my first robot :) It's based on fritsl design. The differences are that it doesn't have a servo (it always looks forward) and has 2 touch sensors just in front of the weels so that if it bumps on something, it goes a little back and turn away.

Also, it's not held together by tape, but with a solid structure based on nuts and bolts (as you can see from the pictures) and CD plates. A wooden cube is the main attachment for all parts. I like this design becouse it's completely disassemblable, nothing is permanently attached. Also, it's quite strong.

Now i'm gonna add an ultraluminous led to act as a spotlight :)

UPDATE: I added the ultraluminous led! It make a very bright light cone, give great effect when the robot turns :)  The led is mounted on the head near the IR sensor, along with it's resistor. It's actually connected to G and V, since i don't have a transistor lying around, so it's always on then the robot is on.

I added a couple of pictures, a video with the LED on, and the complete source code (nothing fancy there).

Source Code 

pause 2000 ' wait to put the robot down :)

main:
    ' full forward
    gosub fwd_right
    gosub fwd_left

    gosub read_dist
    if w1 > 200 then
        sertxd("Dist is ",#w1,", switching to evade", 13,10)
        random w0 ' choose which side, randomly
        if b0>120 then
            gosub evade
        else
             gosub evade2
        endif
    endif
    if pin0 = 1 then
        gosub hit_right 'right bumper hit
    elseif pin3 = 1 then
        gosub hit_left 'left bumper hit
    endif
goto main


hit_left:
    'left bumper hit!
    sertxd("hit left", 13,10)
    gosub bck_right ' go very little backward
    gosub bck_left
    pause 250

      gosub bck_right ' turn very little to the opposite direction
      gosub fwd_left
    pause 250
return

hit_right:
    'right bumper hit!
    sertxd("hit right", 13,10)
    gosub bck_right
    gosub bck_left
    pause 250

      gosub fwd_right
      gosub bck_left
    pause 250
return



evade:
    gosub fwd_right ' turn one side
    gosub bck_left
    gosub read_dist
    if w1 > 140 then
        goto evade ' if still close to something, keep turning
    endif
    sertxd("Dist is ",#w1,", switching to main", 13,10)
return

evade2:
    gosub bck_right
    gosub fwd_left
    gosub read_dist
    if w1 > 140 then
        goto evade2
    endif
    sertxd("Dist is ",#w1,", switching to main", 13,10)
return

read_dist:
    ' make average of two reads
    ' hoping to remove some disturbance
    readadc10 4, w2
    readadc10 4, w3
    let w1 = w2+w3
    let w1 = w1 / 2
    sertxd("#A:",#w1,";", 13,10)
return

fwd_left:
    low 4
    high 5
return

fwd_right:
    low 6
    high 7
return

bck_left:
    high 4
    low 5
return

bck_right:
    high 6
    low 7
return

stop_left:
low 4
low 5
return

stop_right:
low 6
low 7
return