The robot will start on the inner line inside the loop. When the D12 button is pressed to "start" the robot, we want to make the robot follow the current line until it has counted 1 line marker (i.e., reached marker A in the diagram). Then we'll make the robot turn 90° right and follow the outer loop line until it has counted 4 line markers (which will bring it back to marker A). Then the robot will turn 90° right again, and follow the inner line until it has counted 1 line marker (i.e., returned to the start). Finally, the robot will turn around (180°) and "pause" itself, so it's back in its starting position.