// Small Killough Platform
#define POWER 9
#define DEG90_9 75
#define TRANS 100
#define LEFT OUT_FWD
#define RIGHT OUT_REV
#define FORWARD OUT_FWD
#define BACKWARD OUT_REV
#define TRANS90 50

void Translate( int time , int power, int direction ){
  SetPower( OUT_A + OUT_B + OUT_C, power );  
  SetDirection( OUT_A, OUT_REV );
  SetDirection( OUT_C, OUT_FWD );
  if( direction == BACKWARD )
    Toggle( OUT_A + OUT_C );
  OnFor( OUT_A + OUT_C , time );
  Off( OUT_B );
}

void Rotate( int time, int power, int direction ){
  SetPower( OUT_A + OUT_B + OUT_C, power );
  if ( direction == LEFT )
     SetDirection( OUT_A + OUT_B + OUT_C, OUT_FWD );
  else
     SetDirection( OUT_A + OUT_B + OUT_C, OUT_REV );
  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_B , OUT_FWD );
  SetDirection( OUT_A + OUT_C, OUT_REV );
  int i = 0;
  while ( i < times ){
    i++;
    On( OUT_B );
    OnFor( OUT_A + OUT_C, on );
    Off( OUT_A + 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_B , OUT_REV );
  SetDirection( OUT_A + OUT_C, OUT_FWD );
  int i = 0;
  while ( i < times ){
    i++;
    On( OUT_B );
    OnFor( OUT_A + OUT_C, on );
    Off( OUT_A + OUT_C );
    Wait(off);
  }
  Off( OUT_A + OUT_B + OUT_C );
}

task main(){
  int i = 0;
  while( i < 4 ){
    Translate( TRANS, POWER, FORWARD );
    Rotate( DEG90_9, POWER, RIGHT);
    i++;
  }
  Translate( TRANS, POWER, FORWARD );
  PulseDriveRight( 4, 2, 17 );  
  Translate( TRANS, POWER, BACKWARD );
  PulseDriveLeft( 4, 2, 17 );  
}