define backup:
turnleft
turnleft
move
turnleft
turnleft
define turnright:
do 3:
turnleft
define solve:
if next_to_a_beeper:
pickbeeper
if front_is_clear:
move
solve
backup
if left_is_clear:
turnleft
move
solve
backup
turnright
if right_is_clear:
turnright
move
solve
backup
turnleft
while front_is_clear:
move
if front_is_blocked:
turnleft
turnleft
solve
turnoff