Robot drives forward until it bumps, then backs up and turns

Bump infinitely around room

#pragma config(Sensor, port5,  bumpSwitch,     sensorVexIQ_Touch)
#pragma config(Motor,  motor1,          leftMotor,     tmotorVexIQ, openLoop, encoder)
#pragma config(Motor,  motor6,          rightMotor,    tmotorVexIQ, openLoop, reversed, encoder)
//*!!Code automatically generated by 'ROBOTC' configuration wizard               !!*//

/*------------------------------------------------------------------------------------------------
  Simple program to make your robot move forward until the Bumper Sensor is triggered (pressed).

                            ROBOT CONFIGURATION: VEX IQ Clawbot
    MOTORS & SENSORS:
    [I/O Port]          [Name]              [Type]                			[Location]
    Port 1        			leftMotor           VEX IQ Motor (Reversed)		  Left side motor
    Port 6       				rightMotor          VEX IQ Motor 							  Right side motor
    Port 2        			bumpSwitch          VEX IQ Bumper		      			Bumper Sensor
------------------------------------------------------------------------------------------------*/

task main()
{
	while(true)
	{
		setMotorSpeed(leftMotor, 50);
		setMotorSpeed(rightMotor, 50);

		if(getBumperValue(bumpSwitch) == 1)
	{
		setMotorSpeed(leftMotor, 0);
		setMotorSpeed(rightMotor, 0);
		sleep(500);                     //stop

	resetMotorEncoder(leftMotor);
	resetMotorEncoder(rightMotor);
	moveMotorTarget(leftMotor, -500, -50);
	moveMotorTarget(rightMotor, -500, -50);
	waitUntilMotorStop(leftMotor);
	waitUntilMotorStop(rightMotor);  //backup
	sleep(500);

	resetMotorEncoder(leftMotor);
	resetMotorEncoder(rightMotor);
	moveMotorTarget(leftMotor, -200, -50);
	moveMotorTarget(rightMotor, 200, 50);
	waitUntilMotorStop(leftMotor);
	waitUntilMotorStop(rightMotor);  //turn left
	sleep(500);
}
}
}