Cross Over Design study in R

Hello Everybody, I am trying to implement a 3x3 cross-over-design analysis in R. I have tried looking on different websites but they don't really provide clear explanations for the use in R. What I understand so far, lme() is the best way to apporach this model design. Has anybody idea about this one? Sorry I can't really give an example of the data.

Thank you!

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