Robot 1
% Phase 1
L??0000->S0001
L??0001->R0000
IO?0000->S0001
IO?0001->R0000
IT?0000->N
IT?0001->S0010
R??0000->N
% Phase 2
IOA0010->L0010
IOB0010->S0011
IOB0011->L0010
LOA0010->S0100
LOB0010->S0011
LOB0011->S0100
LOA0100->S0101
LOA0101->R0100
LOB0100->R0100
IOA0100->S0101
IOA0101->R0100
IOB0100->R0100
IT?0100->L0110
IT?0101->N
R??0100->N
% Phase 3
I??0110->L0110
L??0110->R0111
I??0111->R0111
RO?0111->N
RT?0111->S0111
Robot 2
% Phase 1
L??0000->R0000
I??0000->R0000
R??0000->L0001
IO?0001->L0001
IT?0001->R1111
I??1111->S0010
L??0001->N
% Phase 2
IOA0010->R0010
IOB0010->S0011
IOB0011->R0010
ROA0010->S0100
ROB0010->S0011
ROB0011->S0100
ROA0100->S0101
ROA0101->L0100
ROB0100->L0100
IOA0100->S0101
IOA0101->L0100
IOB0100->L0100
ITA0100->N
ITA0101->S0110
ITB0100->S0110
L??0100->N
% Phase 3
I??0110->S0111
I??0111->R0110
RT?0110->Y
RO?0110->N
