def move_and_pick():
    move()
    pick_beeper()


repeat(move_and_pick,6)

turn_left()
repeat(move_and_pick,5)

turn_left()
repeat(move_and_pick,5)

turn_left()
repeat(move_and_pick,4)

turn_left()
repeat(move_and_pick,4)

turn_left()
repeat(move_and_pick,3)

turn_left()
repeat(move_and_pick,3)

turn_left()
repeat(move_and_pick,2)

turn_left()
repeat(move_and_pick,2)

turn_left()
repeat(move_and_pick,1)

turn_left()
repeat(move_and_pick,1)

turn_off()

def turn_right():
    repeat(turn_left, 3)

def pickLineBeeper():
    for i in range(5):
        pick_beeper()
        move()
    pick_beeper()

def turnLeftAndUp():
    turn_left()
    move()
    turn_left()
    

def turnRightAndUp():
    turn_right()
    move()
    turn_right()

#start    
move()
pickLineBeeper()

turnLeftAndUp()
pickLineBeeper()

turnRightAndUp()
pickLineBeeper()

turnLeftAndUp()
pickLineBeeper()

turnRightAndUp()
pickLineBeeper()

turnLeftAndUp()
pickLineBeeper()
turn_off()

def turn_right():
    repeat(turn_left,3)
move()
def harvest():
    for i in range(5):
        pick_beeper()
        move()
    pick_beeper()
    turn_left()
    i=0
    move()
    turn_left()
    for i in range(5):
        pick_beeper()
        move()
    pick_beeper()
    turn_right()
    i=0
    move()
    turn_right()
repeat(harvest,3)
turn_off()

def pickup():
 move()
 pick_beeper()

def turn_right():
 repeat(turn_left, 3)

def goright():
  repeat(pickup, 5)
  turn_left()


def goleft():
    repeat(pickup, 5)
    turn_right()

def goup_right():
  move()
  pick_beeper()
  turn_left()

def goup_left():
    move()
    pick_beeper()
    turn_right()

move()
pick_beeper()
goright()
goup_right()
goleft()
goup_left()
goright()
goup_right()
goleft()
goup_left()
goright()
goup_right()
goleft()
turn_off() 

 
def turn_right():
    turn_left()
    turn_left()
    turn_left()
def right():
    repeat(eat,5)
    turn_left()
    move()
    pick_beeper()
    turn_left()
def left():
    repeat(eat,5)
    turn_right()
    move()
    pick_beeper()
    turn_right()    
def eat():
    move()
    pick_beeper() 
move()
pick_beeper()
right()
left()
right()
left()
right()
repeat(eat,5)
turn_off()

def turn_right(): 
    repeat(turn_left,3) 
 
def go_pick(): 
    move() 
    pick_beeper() 

def go_go()
    turn_right() 
    move() 
    pick_beeper() 
    turn_right() 
    repeat(go_pick,5) 
    turn_left() 
    move() 
    pick_beeper() 
    turn_left() 
    repeat(go_pick,5) 

repeat(go_pick,6) 
turn_left() 
move() 
pick_beeper() 
turn_left() 
repeat(go_pick,5) 
go_go()
go_go()
turn_off() 

def turn_right(): 
    repeat(turn_left, 3) 
def pick_1():
    move()
    pick_beeper()
def pick_5():
    repeat(pick_1,5)
def right_pick():
    pick_5()
    turn_right()
    pick_1()
    turn_right()
def left_pick():
    pick_5()
    turn_left()
    pick_1()
    turn_left()

pick_1()
turn_left()
right_pick()
left_pick()
right_pick()
left_pick()
right_pick()
pick_5()
turn_off()

def turn_right(): 
    repeat(turn_left, 3) 
def move_p(): 
    move() 
    pick_beeper() 
def move_p5(): 
    repeat(move_p, 5)
move_p5() 
move_p() 
turn_left() 
move_p() 
turn_left() 
move_p5() 
turn_right() 
move_p() 
turn_right() 
move_p5() 
turn_left() 
move_p() 
turn_left() 
move_p5() 
turn_right() 
move_p() 
turn_right() 
move_p5() 
turn_left() 
move_p() 
turn_left() 
move_p5() 
pick_beeper() 
turn_off()