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 #define go(t) OnFwd(OUT_AC);Wait(t);Off(OUT_AC)
 #define turn_left(t) OnRev(OUT_A);OnFwd(OUT_C);Wait(t);Off(OUT_AC)
 #define turn_right(t) OnRev(OUT_C);OnFwd(OUT_A);Wait(t);Off(OUT_AC)
 #define back(t) OnRev(OUT_AC);Wait(t);Off(OUT_AC)
 #define up OnRev(OUT_B);Wait(7);Off(OUT_B)
 #define down OnFwd(OUT_B);Wait(10);Off(OUT_B)
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 task main()
 {
   go(10);
   repeat(3){
   go(80);
   up;
   back(120);
   turn_left(80);
   back(10);
   down;}
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   go(105);
   up;
   back(20);
   turn_right(120);
   go(70);
   repeat(2){
   go(10);
   down;
   go(20);
   up;}
   back(10);
   turn_right(120);
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   go(160);
   down;
   Wait(20);
   go(10);
   up;
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   go(20);
   turn_right(120);
   go(130);
   down;
   go(25);
   up;
 }
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