// Large Killough Platform

#define POWER 9
#define DEG90 50
#define TRANS 100

void DriveForward( int time ){
  SetPower( OUT_A + OUT_B + OUT_C, POWER );
  SetDirection( OUT_B , OUT_FWD );
  SetDirection( OUT_C , OUT_REV );
  OnFor( OUT_B + OUT_C , time );
}

void DriveReverse( int time ){
  SetPower( OUT_A + OUT_B + OUT_C, POWER );
  SetDirection( OUT_B , OUT_REV );
  SetDirection( OUT_C , OUT_FWD );
  OnFor( OUT_B + OUT_C , time );
}

void RotateLeft( int time ){
  SetPower( OUT_A + OUT_B + OUT_C, POWER );
  SetDirection( OUT_A + OUT_B + OUT_C , OUT_REV );
  OnFor( OUT_A + OUT_B + OUT_C , time );
}

void RotateRight( int time ){
  SetPower( OUT_A + OUT_B + OUT_C, POWER );
  SetDirection( OUT_A + OUT_B + OUT_C , OUT_FWD );
  OnFor( OUT_A + OUT_B + OUT_C , time );
}

void PulseDriveRight( int on, int off, int times ){
  SetPower( OUT_A + OUT_B + OUT_C, 9 );
  SetDirection( OUT_A , OUT_FWD );
  SetDirection( OUT_B + OUT_C, OUT_REV );
  int i = 0;
  while ( i < times ){
    i++;
    On( OUT_A );
    OnFor( OUT_B + OUT_C, on );
    Float( OUT_B + OUT_C );
    Wait(off);
  }
  Off( OUT_A + OUT_B + OUT_C );
}

void PulseDriveLeft( int on, int off, int times ){
  SetPower( OUT_A + OUT_B + OUT_C, 9 );
  SetDirection( OUT_A , OUT_REV );
  SetDirection( OUT_B + OUT_C, OUT_FWD );
  int i = 0;
  while ( i < times ){
    i++;
    On( OUT_A );
    OnFor( OUT_B + OUT_C, on );
    Float( OUT_B + OUT_C );
    Wait(off);
  }
  Off( OUT_A + OUT_B + OUT_C );  
}

task main(){
    DriveForward( TRANS );
    PulseDriveRight( 2, 2, TRANS/4 );
    DriveReverse( TRANS );
    PulseDriveLeft( 2, 2, TRANS/4 );

    DriveForward( TRANS );
    RotateRight( DEG90 );
    DriveForward( TRANS );
    RotateRight( DEG90 );
    DriveForward( TRANS );
    RotateRight( DEG90 );
    DriveForward( TRANS );
    RotateRight( DEG90 );
}