class program
    {
    define halfturn()
        {
        turnleft();
        turnleft();
        }
    
    define turnright()
        {
        iterate(3)
            { turnleft(); }
        }
    
    define recogeCamino()
        {
        while( nextToABeeper )
            {
            pickbeeper();
            if( frontIsClear )
                {
                move();
                if( notNextToABeeper )
                    {
                    halfturn();
                    move();
                    turnleft();
                    if( frontIsClear )
                        {
                        move();
                        if( notNextToABeeper )
                            {
                            halfturn();
                            move();
                            if( frontIsClear )
                                {
                                move();
                                if( notNextToABeeper )
                                    {
                                    halfturn();
                                    move();
                                    }
                                }
                            }
                        }
                    else
                        {
                        halfturn();
                        if( frontIsClear )
                            {
                            move();
                            if( notNextToABeeper )
                                {
                                halfturn();
                                move();
                                }
                            }
                        }
                    }
                }
            else
                {
                if( rightIsClear )
                    {
                    turnright();
                    move();
                    if( notNextToABeeper )
                        {
                        halfturn();
                        move();
                        if( frontIsClear )
                            {
                            move();
                            if( notNextToABeeper )
                                {
                                halfturn();
                                move();
                                }
                            }
                        }
                    }
                else
                    {
                    if( leftIsClear )
                        {
                        turnleft();
                        move();
                        if( notNextToABeeper )
                            {
                            halfturn();
                            move();
                            }
                        }
                    }
                }
            }
        }
    
    program()
        {
        recogeCamino();
        turnoff();
        }
    }