[ConKbot of Doom]

I don't have any example code, but you could use the fact that the code is executed once every 26.2 milliseconds and use some decrementing (or incrementing) counters and some if statements...

well, sort of an example, but definitely needs refinement

count = count + 1;
if (count = 15)
  {
  pwm01 = 180;
  pwm02 = 180;
  }
if (count = 45)
  {
  pwm01 = 255;
  pwm02 = 0;
  }

If I have the idea correct, as count reaches 15, the bot will go forward at a medium speed, then when it reaches 45, it will turn, one side full speed forward, one side full speed back. You get the idea? Just remember that every "count" is 1/38 of a second.

EDIT: got beaten to it... oh well I'll leave it there for the code