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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;
}
}
}
}
}
}
}