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If you stand behind a guard, it will rotate towards you in one direction.
If you then move in that same direction, it will start turning in the other direction.
Example:
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BG-
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Consider the above configuration. Beethro, Guard, Guard sword.
The guard will rotate CCW so you look like this:
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BG.
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Now, if you step Beethro SE (to just south of the guard), he will turn back clockwise.
Repeat as necessary.
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The point of this room is to use the guard's sword rotations to kill roaches coming from one direction while you kill the roaches coming from the other direction.
The dance can be a little tricky to get the rhythm of at first, but it's a good skill to develop.