class program
    {
    define halfturn()
        {
        turnleft();
        turnleft();
        }
    define miraNorte()
        {
        while( notFacingNorth )
            turnleft();
        }
    define miraOeste()
        {
        while( notFacingWest )
            turnleft();
        }
    define miraSur()
        {
        while( notFacingSouth )
            turnleft();
        }
    define miraEste()
        {
        while( notFacingEast )
            turnleft();
        }
    define escogeCamino()
        {
        pickbeeper();
        if( nextToABeeper )
            {
            pickbeeper();
            if( nextToABeeper )
                {
                pickbeeper();
                if( nextToABeeper )
                    caminaOeste();
                else
                    caminaSur();
                }
            else
                caminaEste();
            }
        else
            caminaNorte();
        }
    define caminaNorte()
        {
        if( frontIsClear )
            {
            move();
            escogeCamino();
            }
        miraNorte();
        move();
        }
    define caminaEste()
        {
        if( frontIsClear )
            {
            move();
            escogeCamino();
            }
        miraEste();
        move();
        }
    define caminaSur()
        {
        if( frontIsClear )
            {
            move();
            escogeCamino();
            }
        miraSur();
        move();
        }
    define caminaOeste()
        {
        if( frontIsClear )
            {
            move();
            escogeCamino();
            }
        miraOeste();
        move();
        }

    program()
        {
        while( nextToABeeper && frontIsClear )
            move();
        halfturn();
        if( notNextToABeeper )
            move();
        escogeCamino();
        turnoff();
        }
    }