Sphero random movement with collision detection

sphero.sphero

async function onCollision() {
	stopRoll();
	setMainLed({ r: 255, g: 0, b: 0 });
	await setHeading(getRandomInt(0,359));
	await delay(0.5);
	setMainLed({ r: 255, g: 22, b: 255 });
	setSpeed(100);
}
registerEvent(EventType.onCollision, onCollision);
async function startProgram() {
	setMainLed({
		r: getRandomInt(0,255),
		g: getRandomInt(0,255),
		b: getRandomInt(0,255)
	});
	//setHeading(getRandomInt(0,359));
	maxRoll = 20;
	while(true){
		setStabilization(true);
		setSpeed(30);
		await delay(3);
		or = getOrientation();
		while(or.pitch < maxRoll && or.yaw < maxRoll && or.roll  < maxRoll ){
			await delay(0.1);
			or = getOrientation();
		}   
		setSpeed(0);
		setStabilization(true);
		setHeading(getRandomInt(0,359));
		await delay(1);
		
	}
}