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 #!/usr/bin/env python3
 from ev3dev.ev3 import *
 from time import sleep

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 mL = LargeMotor('outB')
 mR = LargeMotor('outC')
 mA = MediumMotor('outD')

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 def move1dis():
    mL.run_timed(time_sp=500,speed_sp=300,stop_action='hold')
    mR.run_timed(time_sp=500,speed_sp=300,stop_action='hold')

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 def move():
    mL.run_timed(time_sp=500,speed_sp=400,stop_action='hold')
    mR.run_timed(time_sp=500,speed_sp=400,stop_action='hold')

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 def back1dis():
    mL.run_timed(time_sp=500,speed_sp=-300,stop_action='hold')
    mR.run_timed(time_sp=500,speed_sp=-300,stop_action='hold')

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 def turnL():
    mL.run_timed(time_sp=500,speed_sp=350,stop_action='hold')
    mR.run_timed(time_sp=500,speed_sp=-350,stop_action='hold')

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 def shortturnL():
    mL.run_timed(time_sp=200,speed_sp=200,stop_action='hold')

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 def shortturnL2():
    mL.run_timed(time_sp=200,speed_sp=-200,stop_action='hold')

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 def shortturnR():
    mR.run_timed(time_sp=200,speed_sp=200,stop_action='hold')

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 def shortturnR2():
    mR.run_timed(time_sp=200,speed_sp=-200,stop_action='hold')

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 def penup():
    mA.run_timed(time_sp=300,speed_sp=100,stop_action='hold')

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 def pendown():
    mA.run_timed(time_sp=300,speed_sp=-100,stop_action='hold')

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 shortturnL()
 sleep(1)
 shortturnL2()
 sleep(1)
 move1dis()
 sleep(1)
 shortturnR()
 sleep(1)
 shortturnR2()
 sleep(1)
 move1dis()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL2()
 sleep(1)
 penup()
 sleep(1)


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 shortturnL()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL()
 sleep(1)
 mL.run_timed(time_sp=550,speed_sp=-200,stop_action='hold')
 mR.run_timed(time_sp=550,speed_sp=-200,stop_action='hold')
 sleep(1)
 pendown()
 sleep(1)
 shortturnL()
 sleep(1)
 penup()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL()
 sleep(1)
 shortturnL()
 mL.run_timed(time_sp=100,speed_sp=-200,stop_action='hold')
 mR.run_timed(time_sp=100,speed_sp=-200,stop_action='hold')
 sleep(1)
 pendown()
 sleep(1)
 shortturnL2()
 sleep(1)
 shortturnL()
 sleep(1)
 back1dis()
 sleep(1)
 mL.run_timed(time_sp=250,speed_sp=130,stop_action='hold')
 mR.run_timed(time_sp=250,speed_sp=130,stop_action='hold')
 sleep(1)
 shortturnL()
 sleep(1)
 mL.run_timed(time_sp=375,speed_sp=-100,stop_action='hold')
 mR.run_timed(time_sp=375,speed_sp=300,stop_action='hold')
 sleep(1)
 penup()
 sleep(1)


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 mL.run_timed(time_sp=500,speed_sp=400,stop_action='hold')
 mR.run_timed(time_sp=500,speed_sp=100,stop_action='hold')
 sleep(1)

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 pendown()
 sleep(1)
 move1dis()
 sleep(1)
 mL.run_timed(time_sp=350,speed_sp=300,stop_action='hold')
 mR.run_timed(time_sp=350,speed_sp=300,stop_action='hold')
 sleep(1)
 penup()
 sleep(1)
 move()
 sleep(1)
 turnL()
 sleep(1)
 mL.run_timed(time_sp=500,speed_sp=-200,stop_action='hold')
 mR.run_timed(time_sp=500,speed_sp=-200,stop_action='hold')
 sleep(1)
 pendown()
 sleep(1)
 mL.run_timed(time_sp=500,speed_sp=300,stop_action='hold')
 mR.run_timed(time_sp=500,speed_sp=0,stop_action='hold')
 sleep(1)
 mL.run_timed(time_sp=500,speed_sp=-300,stop_action='hold')
 mR.run_timed(time_sp=500,speed_sp=0,stop_action='hold')
 sleep(1)
 back1dis()
 sleep(1)
 back1dis()
 sleep(1)
 mL.run_timed(time_sp=500,speed_sp=300,stop_action='hold')
 mR.run_timed(time_sp=500,speed_sp=0,stop_action='hold')
 sleep(1)





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 mL.reset()
 mR.reset()
 mA.reset()

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