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 #define TURN_TIME 60;//²ó¤ë»þ´Ö
 #define turn_left Off(OUT_A); OnFwd(OUT_C);
 ¡¡Wait(TURN_TIME);Off(OUT_C);              //º¸¤Ë¶Ê¤¬¤ë 
 #define go_forward(t) OnFwd(OUT_AC);
 ¡¡Wait(t);Off(OUT_AC);                //Á°¿Ê
 #define turn_right Off(OUT_C); OnFwd(OUT_A);
 ¡¡Wait(TURN_TIME);Off(OUT_A);             //±¦¤Ë¶Ê¤¬¤ë
 #define turn_head Off(OUT_A);OnFwd(OUT_C);Wait(60);Off(OUT_AC);OnFwd(OUT_AC);
 ¡¡Wait(10);Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¤³¤Þ¤«¤¯¶Ê¤¬¤ë
 #define turn_all OnFwd(OUT_C);OnRev(OUT_A);Wait(60);Off(OUT_AC);//¤½¤Î¾ì¤Ç²óž
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  task main ()
 {
 OnFwd(OUT_B);
 go_forward(40);
 turn_all;                 //­¡
 go_forward(20);
 turn_all;                 //­¢
 go_forward(20);
 turn_left;                
 go_forward(40); ¡¡¡¡¡¡¡¡¡¡//¤¢¤´¤ÎÉôʬ¤ò½ñ¤¯¡¡­£
 
 turn_head;
 turn_head;
 turn_head;
 turn_head;
 turn_head;
 turn_head;
 turn_head;
 turn_head;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡//Ƭ¤ÎÉôʬ¤ò½ñ¤¯ ­¤
 
 OnRev(OUT_B);
 Wait(10);
 Off(OUT_B);              //É®¤ò¾å¤²¤ë
 
 turn_left;
 go_forward(30);
 
 OnFwd(OUT_B);
 Wait(10);                
 Off(OUT_B);
 OnRev(OUT_B);¡¡¡¡¡¡¡¡¡¡
 Wait(10);
 Off(OUT_B);           ¡¡¡¡//º¸ÌܤÎÉôʬ¡¡¡¡­¦
 
 go_forward(30);
 OnFwd(OUT_B);
 Wait(10);
 Off(OUT_B);
 OnRev(OUT_B);           
 Wait(10);
 Off(OUT_B);              //±¦ÌܤÎÉôʬ¡¡¡¡­§
 
 turn_left;
 OnFwd(OUT_B);
 Wait(10);
 Off(OUT_B);
 go_forward(20);
 OnRev(OUT_B);
 Wait(10);
 Off(OUT_B);
 turn_right;
 OnFwd(OUT_B);
 Wait(10);
 Off(OUT_B);
 OnRev(OUT_AC);
 Wait(30);
 Off(OUT_AC);¡¡¡¡¡¡¡¡¡¡¡¡¡¡//¸ý¤ÎÉôʬ¡¡¡¡¡¡­¨
 }
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