Micromouse is a competition where small robot mice solve a 16×16 maze—it has been running annually since 1977 (though may have started much earlier in the 1950s).

An ancient Tripod site includes source code from the winners of the competition in 1981, 1982, 1986, and many more in both BASIC and Turbo Pascal syntax.  The Turbo Pascal code provides turtle graphics that can control a line-drawing robot!

As a bonus, here’s the schematics (hand-drawn on computer paper) from Johan de Boer’s 1970–73 maze-solving computer.