Radius

Changed the Radius values and the robot responds accordingly.
32768 = 2^(16-1).
16 is the number of the bits.so higher is the radius the path is straight.
// Drive radius special cases
#define RadStraight     32768// radius of the path the robot starts to move. 32768 is 2 ^15 = 2^(16-1). 16 because it can work on 16 bits

#define RadCCW          4 // Counter clockwise radius
#define RadCW           -1 // Clockwise radius
The robot moves CCW when hit on the left side and CW on the right side of the bumper. Behaviour shud be observed later on hitting at the center.