beginning_of_program

define_new_instruction turnright as
{turnleft;turnleft;turnleft;}

define_new_instruction busca_pared as
{while front_is_clear do baila; 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
{pasoizquierda;
turnleft; if left_is_blocked then 
{turnright; pasoderecha;}
else
{turnright; move;}
if right_is_blocked then
{turnright; pasoizquierda;}
else
{turnleft; move;}



define_new_instruction pasoderecha as
{turnright; move;turnleft;}

define_new_instruction pasoizquierda as
{turnleft; move; turnright;}

define_new_instruction baila as
{pasoderecha; if front_is_clear then {pasoizquierda; move;}}

define_new_instruction mediavuelta as
{turnright; turnright;}

beginning_of_execution
if right_is_clear then
busca_pared;
busca_puerta;
salte;
turnoff;

end_of_execution
end_of_program