beginning_of_program 
define_new_instruction turnright as
{turnleft;turnleft;turnleft;}
define_new_instruction busca_puerta as
{
while right_is_blocked do
if front_is_clear then
move;
else
turnleft;

}
define_new_instruction busca_pared as
{
while front_is_clear do
baila;
turnleft;
}
define_new_instruction salte as
{
turnright;
move;
}
define_new_instruction paso_a_la_derecha  as
{
turnright;
move;
turnleft;

}
define_new_instruction  paso_a_la_izquierda as
{
turnleft;
move;
turnright;
}
define_new_instruction baila as
{
paso_a_la_derecha;
if   front_is_clear   then
{
paso_a_la_izquierda;
move;
}}
beginning_of_execution
if right_is_clear then
busca_pared;
busca_puerta;
salte;
turnoff;
end_of_execution
end_of_program