Exercise 1, Task 14

 The solution for the task is fulfilled by the following script:

drive @v0.3 :($irdistfrontmiddle < 0.45)
stop
wait 1
get "guidemark"
wait 1

switch ($guidemarkok)
case 1
turn 90
fwd 0.5
turn -90
ignoreobstacles
fwd 0.4

case 2
turn -90
fwd 0.5
turn 90
ignoreobstacles
fwd 0.4

endswitch
stop