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   task main(){
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnFwd(OUT_BC,30);
    Wait(500);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);         //£´¤«¤é£±£µ¹ÔÌÜ  ¥µ¤Î£±²èÌÜ(¿Þ­¡)
    OnFwd(OUT_B,30);
    Wait(1000);
    Off(OUT_B);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(1000);
    Off(OUT_C);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(800);
    Off(OUT_BC);
    Wait(1000);        //£±£¶¤«¤é£²£·¹ÔÌÜ  ¥µ¤Î£²²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(500);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);        //£²£¸¤«¤é£³£¹¹ÔÌÜ  ¥µ¤Î£²²èÌÜ¡Ê¿Þ­¢¡Ë
    OnFwd(OUT_BC,30);
    Wait(1100);
    Off(OUT_BC);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(2100);
    Off(OUT_C);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(400);
    Off(OUT_BC);
    Wait(1000);       //£´£°¤«¤é£µ£±¹ÔÌÜ  ¥µ¤Î£³²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(700);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);        //£µ£²¤«¤é£¶£³¹ÔÌÜ  ¥µ¤Î£³²èÌÜ¡Ê¿Þ­£)
    OnFwd(OUT_B,30);
    Wait(2100);
    Off(OUT_B);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(1200);
    Off(OUT_BC);   
    Wait(1000);        //£¶£´¤«¤é£·£±¹ÔÌÜ  ¥Ä¤Î£±²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);    
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(300);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);           //£·£²¤«¤é£¸£³¹ÔÌÜ  ¥Ä¤Î£±²èÌÜ(¿Þ­¡)
    OnFwd(OUT_B,30);
    Wait(700);
    Off(OUT_B);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(500);
    Off(OUT_C);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(400);
    Off(OUT_BC);
    Wait(1000);        //£¸£´¤«¤é£¹£µ¹ÔÌÜ  ¥Ä¤Î£²²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ° 
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(300);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);      //£¹£¶¤«¤é£±£°£·¹ÔÌÜ   ¥Ä¤Î£²²èÌÜ(¿Þ­¢)
    OnFwd(OUT_B,30);
    Wait(600);
    Off(OUT_B);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(600);
    Off(OUT_C);
    Wait(1000);       //£±£°£¸¤«¤é£±£±£µ¹ÔÌÜ¡¡¥Ä¤Î£³²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(700);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);       //£±£±£¶¤«¤é£±£²£·¹ÔÌÜ¡¡¥Ä¤Î£²²èÌÜ(¿Þ­£)
    OnFwd(OUT_BC,30);
    Wait(2000);
    Off(OUT_BC);
    Wait(1200);
    OnFwd(OUT_C,30);
    Wait(2100);
    Off(OUT_C);
    Wait(1000);       //£±£²£¸¤«¤é£±£³£µ¹ÔÌÜ¡¡¥Ý¤Î£±²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(700);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);      //£±£³£¶¤«¤é£±£´£·¹ÔÌÜ¡¡¥Ý¤Î£±²èÌÜ¡Ê¿Þ­¡)
    OnRev(OUT_BC,30);
    Wait(200);
    Off(OUT_BC);
    Wait(1000);
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);      //£±£´£¸¤«¤é£±£µ£¹¹ÔÌÜ¡¡¥Ý¤ÎȾÂùÅÀ¤òÅÀ¤Çɽ¸½(¿Þ­¢)
    OnFwd(OUT_BC,30);
    Wait(700);
    Off(OUT_BC);
    Wait(1000);
    OnFwd(OUT_B,30);
    Wait(2000);
    Off(OUT_B);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(1200);
    Off(OUT_BC);
    Wait(1000);      //£±£¶£°¤«¤é£±£·£±¹ÔÌÜ¡¡¥Ý¤Î£²²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(800);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);      //£±£·£²¤«¤é£±£¸£³¹ÔÌÜ¡¡¥Ý¤Î£²²èÌÜ¡Ê¿Þ­£)
    OnFwd(OUT_BC,30);
    Wait(600);
    Off(OUT_BC);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(300);
    Off(OUT_C);
    Wait(1000);     //£±£¸£´¤«¤é£±£¹£±¹ÔÌÜ¡¡¥Ý¤Î£³²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(300);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);      //£±£¹£²¤«¤é£²£°£³¹ÔÌÜ¡¡¥Ý¤Î£³²èÌÜ¡Ê¿Þ­¤)
    OnFwd(OUT_B,30);
    Wait(600);
    Off(OUT_B);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(150);
    Off(OUT_BC);
    Wait(1000);     //£²£°£´¤«¤é£²£±£±¹ÔÌÜ¡¡¥Ý¤Î£´²èÌܤλÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnRev(OUT_BC,30);
    Wait(300);
    Off(OUT_BC);
    Wait(1000);
    OnRev(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);     //£²£±£²¤«¤é£²£²£³¹ÔÌÜ¡¡¥Ý¤Î£´²èÌÜ¡Ê¿Þ­¥¡Ë
    OnFwd(OUT_C,30);
    Wait(300);
    Off(OUT_C);
    Wait(1000);
    OnFwd(OUT_BC,30);
    Wait(2000);
    Off(OUT_BC);
    Wait(1000);     //£²£²£´¤«¤é£²£³£±¹ÔÌÜ¡¡¥í¤Î»ÏÅÀ¤Þ¤Ç°ÜÆ°
    OnFwd(OUT_A,30);
    Wait(150);
    Off(OUT_A);
    Wait(1000);
    OnFwd(OUT_C,30);
    Wait(12000);
    Off(OUT_B);
    Wait(1000);     //£²£³£²¤«¤é£²£³£¹¹ÔÌÜ¡¡¥í¤ò±ß¤Çɽ¸½(¿Þ­¡)
   }
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