class program {

define turnright() {
    iterate(3) {
        turnleft();
    }
}

define rightHandOnWall() {
    while (rightIsClear) {
        turnleft();
    }
}

define visit() {
    while (anyBeepersInBeeperBag) {
        if (rightIsClear) {
            turnright();
        }
        if (frontIsClear) {
            move();
        } else {
            turnleft();
        }
        if (frontIsBlocked && leftIsBlocked && rightIsBlocked) {
            if (nextToABeeper) {
                turnoff();
            } else {
                putbeeper();
            }
        }
    }
}

program() {
    rightHandOnWall();
    visit();
}

}