1move_right1511delay400ifir_left1ir_mid0ir_right1move_left1501move_right1501delay800ifir_left1ir_mid1ir_right0move_left1511
fmove_right1511delay400ifir_left1ir_mid1ir_right1move_left1501move_right1511

voidtimer1_servei
terrupt3
TH165536100256TL165536100256
1mm1if
speedclk_leftclk_leftclk_rightclk_right
0

fr