Make a "BUmp Sensor" with a button activate at any time.

[system]

Hello,
What I want to happen is when a button that is glued to the front of jabduino and it gets pressed (bumped into a wall) how can I make the robot then "DO THIS." The problem is I want it to be able to sense a press and "DO THIS" at any time, not just at certain times...

Thanks in Advanced, Jabelone

void setup() {                
//Setup our motors and speed control plus define our pins

// Motor 1
#define pwma 11
#define ain2 10
#define ain1 9

//Motor 2
#define pwmb 7
#define bin1 6
#define bin2 5
  
// ==== Motor 1 ===== //
  //PWMA
  pinMode(pwma, OUTPUT);
  //AIN2
  pinMode(ain2, OUTPUT); 
  //AIN1 
  pinMode(ain1, OUTPUT);
  
// ==== Motor 2 ==== //
  //BIN1
  pinMode(bin1, OUTPUT);
  //BIN2
  pinMode(bin2, OUTPUT);
  //PWMB
  pinMode(pwmb, OUTPUT);
  
  //BUTTON STUFF
  #define button 2
  pinMode(button, INPUT);
}

void loop() { 
  
 
  
// ===== Straight ===== //
  //M1
  digitalWrite(pwma, 50);
  digitalWrite(ain2, HIGH);
  digitalWrite(ain1, LOW);
  //M2
  digitalWrite(pwmb, 100);
  digitalWrite(bin2, HIGH);
  digitalWrite(bin1, LOW);
  delay(2000);
  
  // == Stop one wheel ==//
  digitalWrite(pwma, LOW);
  digitalWrite(ain2, LOW);
  digitalWrite(ain1, HIGH);
  delay(200);
    
  // === turn around === //
  //M1
  digitalWrite(pwma, 50);
  digitalWrite(ain2, LOW);
  digitalWrite(ain1, HIGH);
  //M2
  digitalWrite(pwmb, 100);
  digitalWrite(bin2, HIGH);
  digitalWrite(bin1, LOW);
  delay(750);

  button3:{
  //Go backwards
    //M1
    digitalWrite(pwma, 50);
    digitalWrite(ain2, LOW);
    digitalWrite(ain1, HIGH);
    //M2
    digitalWrite(pwmb, 100);
    digitalWrite(bin2, LOW);
    digitalWrite(bin1, HIGH);
    delay(1000);
  
  // === turn around === //
  //M1
  digitalWrite(pwma, 50);
  digitalWrite(ain2, LOW);
  digitalWrite(ain1, HIGH);
  //M2
  digitalWrite(pwmb, 100);
  digitalWrite(bin2, HIGH);
  digitalWrite(bin1, LOW);
  delay(250);
  
  }  
}

[Grumpy_Mike]

To make it work all the time you remove all the delay() calls from your code and write your code using the technique shown in the blink without delay sketch.

[system]

Thanks Heaps!!
I have been stuck on this (baaaasic thing ) for ages! I have also just learnt how to make functions so I don't have to tell what motor to do what each time now I just have to write straight(2000); or left(300); etc.
Once again thanks!