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start: port 1, 255,b0 port 2, 255,b1 If b0 = b1 then if b0 > b1 then if b1 > b0 then straight: high 3: high 4 goto start

left: b2 = b0 b1 if b2 > 15 then goto straight left1: high 3: low 4 goto start right: b2 = b1 b0 if b2 > 15 then goto straight right1: high 4: lo3 goto start Testing

straight left right

left1

right1

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