void Timer2(void) interrupt 5 using 1 {
    Tick --; 
    if (Tick == 0) { 
        if (DIR2 == STRAIGHT) { 
            switch (STATE2) { 
                case 0: 
                    P27 = 1; 
                    P15 = 1; 
                    P0 = 0x09; 
                    P1 = 0x29; 
                    Tick = 30; 
                    STATE2 = 1; 
                    break; 
                case 1: 
                    P0 = 0x0A; 
                    P1 = 0x2A; 
                    Tick = 30; 
                    STATE2 = 2; 
                    break;
                ...