#define turn_right(s,t)  SetPower(OUT_A+OUT_B,s);OnFwd(OUT_A);OnRev(OUT_B);Wait(t);
#define turn_left(s,t)   SetPower(OUT_A+OUT_B,s);OnRev(OUT_A);OnFwd(OUT_B);Wait(t);
#define forwards(s,t)    SetPower(OUT_A+OUT_B,s);OnFwd(OUT_A+OUT_B);Wait(t);
#define backwards(s,t)   SetPower(OUT_A+OUT_B,s);OnRev(OUT_A+OUT_B);Wait(t);

task main()
{
  backwards(5,1000);
  forwards(5,1000);
  turn_left(7,75);
  forwards(7,100);
  backwards(7,200);
  forwards(7,100);
  turn_right(7,75);
  forwards(3,200);
  Off(OUT_A+OUT_B);
}