class program
    {
    define halfturn()
        {
        turnleft();
        turnleft();
        }
    
    define turnright()
        {
        iterate (3)
            turnleft();
        }
    
    define buscaFinLinea()
        {
        while( notNextToABeeper && frontIsClear )
            move();
    
        while( nextToABeeper && frontIsClear )
            move();
    
        halfturn();
    
        if( notNextToABeeper )
            move();
        }
    
    define recogeLinea()
        {
        turnright();
        move();
        turnleft();
    
        while( frontIsClear )
            {
            if( nextToABeeper )
                pickbeeper();
            move();
            }
        if( nextToABeeper )
            pickbeeper();
        }
    
    define inicializa()
        {
        while( notFacingSouth )
            turnleft();
        while( frontIsClear )
            move();
    
        while( notFacingWest )
            turnleft();
        while( frontIsClear )
            move();
    
        halfturn();
    
        buscaFinLinea();
        recogeLinea();
        turnleft();
        move();
        turnleft();
        buscaFinLinea();
        }
    
    define colocaLinea()
        {
        turnright();
        move();
        turnleft();
        while( anyBeepersInBeeperBag )
            {
            putbeeper();
            if( frontIsClear )
                move();
            }
        halfturn();
        buscaFinLinea();
        }
    
    program()
        {
        inicializa();
        while( anyBeepersInBeeperBag )
            {
            colocaLinea();
            recogeLinea();
            turnleft();
            move();
            turnleft();
            buscaFinLinea();
            }
    
        turnoff();
        }
    }