Navigate using IRFL & IRFR only.

When IRFL || IRFR are triggered, the robot will reverse until there is
nothing in front, then rotate away in the other direction.
Added Bend left & right using side sensors

Added BEND_Left triggered by IRFR_Side.
Added BEND_Right triggered by IRFL_Side.
Added Front touch sensors back into code

Treat front IR sensors & touch sensors the same - Reverse then rotate
away.