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#define white1 39
#define white2 45
#define black1 60
#define black2 65
#define go_forward OnFwd(OUT_BC,40)
#define turn_left2 OnFwd(OUT_C,40);Off(OUT_B)
#define turn_left1 OnFwd(OUT_C,40);OnRev(OUT_B,30)
#define turn_right2 OnFwd(OUT_B,40);Off(OUT_C)
#define turn_right1 OnFwd(OUT_B,40);OnRev(OUT_C,20)
#define STEP 1
#define nMAX 180
#define short_break Off(OUT_BC);Wait(1000);
task main ()
{
SetSensorLight(S3);
int nOnline=0;
long t0 = CurrentTick();
int n=0;
while (CurrentTick()-t0 <= 7500) {
if (SENSOR_3 < white1) {
turn_left1;
} else if (SENSOR_3 < white2) {
turn_left2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_right2;
} else {
turn_right1;
}
Wait(STEP);
}
OnFwd(OUT_A,50);Wait(800);Off(OUT_A);
while (CurrentTick()-t0 <= 26000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 26000) {
if (SENSOR_3 < white1) {
turn_left1;
nOnline++;
} else {
if (SENSOR_3 < white2) {
turn_left2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_right2;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
turn_right2;Wait(nMAX*STEP);
OnFwd(OUT_BC,30);Wait(200);
nOnline=0;
}turn_right1;Wait(100);
while (CurrentTick()-t0 <= 36000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 36000) {
if (SENSOR_3 < white1) {
turn_right1;
nOnline++;
} else {
if (SENSOR_3 < white2) {
turn_right2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_left2;
} else {
turn_left1;
}
nOnline=0;
}
Wait(STEP);
}
turn_left2;Wait(nMAX*STEP);
OnFwd(OUT_BC,30);Wait(200);
nOnline=0;
}turn_left1;Wait(200);
while (CurrentTick()-t0 <= 55000) {
while(nOnline < nMAX && CurrentTick()-t0 <= 55000) {
if (SENSOR_3 < white1) {
turn_left1;
nOnline++;
} else {
if (SENSOR_3 < white2) {
turn_left2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_right2;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
turn_right2;Wait(nMAX*STEP);
OnFwd(OUT_BC,30);Wait(200);
nOnline=0;
}
while (n<2) {
while(nOnline < nMAX && n<2) {
if (SENSOR_3 < white1) {
turn_left1;
nOnline++;
} else {
if (SENSOR_3 < white2) {
turn_left2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_right2;
} else {
turn_right1;
}
nOnline=0;
}
Wait(STEP);
}
turn_right2;Wait(nMAX*STEP);
OnRev(OUT_BC,30);Wait(200);
nOnline=0;n++;
}
OnRev(OUT_BC,50);Wait(500);OnFwd(OUT_C,50);OnRev(OUT_B,50);Wait(300);
OnFwd(OUT_C,50);OnRev(OUT_B,50);until(SENSOR_3 < 50);
long t1 = CurrentTick();
while (CurrentTick()-t1 <= 1800) {
if (SENSOR_3 < white1) {
turn_right1;
} else if (SENSOR_3 < white2) {
turn_right2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_left2;
} else {
turn_left1;
}
Wait(STEP);
}
turn_left1;Wait(270);Off(OUT_BC);OnRev(OUT_A,50);Wait(300);Off(OUT_A);
OnRev(OUT_BC,50);Wait(600);OnFwd(OUT_B,50);OnRev(OUT_C,50);Wait(300);
OnFwd(OUT_B,50);OnRev(OUT_C,50);until(SENSOR_3 < 50);
long t2 = CurrentTick();
while (CurrentTick()-t2 <= 3900) {
if (SENSOR_3 < white1)
{
turn_left1;
} else if (SENSOR_3 < white2) {
turn_left2;
} else if (SENSOR_3 < black1) {
go_forward;
} else if (SENSOR_3 < black2) {
turn_right2;
} else {
turn_right1;
}
Wait(STEP);
}
Off(OUT_BC);
}
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