beginning_of_program
define_new_instruction turnright as
{ ITERATE 3 TIMES
turnleft; }
define_new_instruction busca_puerta as
WHILE right_is_blocked DO
IF front_is_clear THEN
move;
ELSE
turnleft;
DEFINE_NEW_INSTRUCTION salte AS
{ turnright;
move; }
DEFINE_NEW_INSTRUCTION busca_pared AS
{WHILE front_is_clear DO
move;
turnleft;}
DEFINE_NEW_INSTRUCTION baila AS

beginning_of_execution
busca_pared;
busca_puerta;
salte;
turnoff;
end_of_execution
end_of_program