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 #define tim 0020
 #define speed 40
 #define light 40
 
 sub right_pivotTurn(int t){
   OnFwd(OUT_A,speed);
   OnRev(OUT_C,speed);
   Wait(t);
   Off(OUT_AC);
 }
 
 sub left_pivotTurn(int t){
  OnFwd(OUT_C,speed);
  OnRev(OUT_A,speed);
  Wait(t);
  Off(OUT_AC);
 }
 
 
 task main(){
  int t,i,count=0;
 
  Wait(2000);
 
  SetSensorLight(IN_1);
  while(true){
    t=tim;
    i = 0;
    while(Sensor(IN_1)<light){
      OnFwd(OUT_AC,speed);
    }
    Off(OUT_AC);
      while(true){
	if(i){
	  left_pivotTurn(t);
	  if(Sensor(IN_1)<light) break;
	  i--;
	  t+=tim;
	  count++;
	}else{
	  right_pivotTurn(t);
	  if(Sensor(IN_1)<light) break;
	  i++;
	  t += tim;
	  count++;
	  if(count>8){
	    OnFwd(OUT_C,speed);
	    OnRev(OUT_A,speed);
	    count=0;
	    if(Sensor(IN_1)<light){
	      Off(OUT_AC);
	      break;
	    }
	  }
	}
      }
    }
  }
 }


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