Rob goes to work each day by two different routes. As he leaves the apartment parking lot there is a traffic light. If he has a green light but not a turn arrow, he goes straight and travels for 15-20 minutes, uniformly distributed. If he has a left turn arrow, he turns left, and travels 10-15 minutes, uniformly distributed. If he has a red light, he waits for a left turn arrow. He has timed the traffic light and the light is red for 2 minutes, followed by a left turn arrow for 1 minute, and a green light for 3 minutes. He arrives at the traffic light at uniformly random times each day. What is his expected travel time?