~cpp
def turn_back():
repeat(turn_left,2)
def turn_right():
repeat(turn_left,3)
turn_left()
move()
def go_to_left_end():
while front_is_clear(): # go to left end
move()
while next_to_a_beeper():
turn_right()
move()
while next_to_a_beeper(): #search minimum column
move()
turn_right()
if front_is_clear():
move()
if next_to_a_beeper():#inspect whether it's empty column or not
turn_back()
move()
turn_left()
go_to_left_end() # go to left end
if not next_to_a_beeper(): # it's sorted
turn_back()
while not next_to_a_beeper(): # go to unsorted section
move()
if next_to_a_beeper():
pick_beeper() # move the beeper from larger column to smaller column
move()
while next_to_a_beeper():
move() # search the smallest column in unordered columns
put_beeper()
#return to the larger column which must be sorted
elif next_to_a_beeper():
pick_beeper() # move the beeper from larger column to smaller column
turn_back()
move()
while next_to_a_beeper():
move() # search the smallest column in unordered columns
put_beeper()
else: # one column sorting finished
turn_back()
move()
turn_left()
go_to_left_end()
turn_back()
continue
if not next_to_a_beeper():
turn_back()
move()
turn_left()
go_to_left_end()
turn_back()
while not next_to_a_beeper():
move()
turn_left()
else:
turn_back()
while next_to_a_beeper():
move()
turn_right()
if next_to_a_beeper():
move()
else:
move()
if not next_to_a_beeper():
turn_back()
while not next_to_a_beeper():
move()
turn_back()
move()
turn_right()
move()
turn_left()
turn_off()
~cpp
def such():
while not next_to_a_beeper():
if right_is_clear():
turn_right()
move()
else:
if front_is_clear():
move()
else:
turn_left()
def move_end():
if front_is_clear():
if next_to_a_beeper():
move()
else:
move()
if next_to_a_beeper():
turn_left()
turn_left()
move()
turn_left()
turn_left()
def move_wall():
while front_is_clear():
move()
def sort_sub():
while front_is_clear():
if front_is_clear():
move()
if next_to_a_beeper():
pick_beeper()
turn_left()
turn_left()
move()
put_beeper()
else:
turn_left()
turn_left()
move_endof_sub()
repeat(move_end,10)
def gaedan():
repeat(move_end,10)
repeat(sort_sub,20)
turn_left()
turn_left()
move_endof()
turn_right()
move()
turn_left()
def move_endof_sub():
move_wall()
turn_right()
move()
turn_right()
while not next_to_a_beeper():
move()
turn_right()
move()
turn_left()
def move_endof():
move_wall()
turn_left()
turn_left()
while not next_to_a_beeper():
move()
def sort():
move_endof()
repeat(gaedan,9)
def turn_right():
repeat(turn_left,3)
def go_pick():
move()
if next_to_a_beeper():
pick_beeper()
def go_go():
turn_right()
move()
if next_to_a_beeper():
pick_beeper()
turn_right()
repeat(go_pick,5)
turn_left()
move()
if next_to_a_beeper():
pick_beeper()
turn_left()
repeat(go_pick,5)
def havest():
repeat(go_pick,6)
turn_left()
move()
if next_to_a_beeper():
pick_beeper()
turn_left()
repeat(go_pick,5)
go_go()
go_go()
move()
turn_left()
repeat(move,5)
turn_left()
def go_pick_sub():
move()
put_beeper()
def go_go_sub():
turn_right()
move()
put_beeper()
turn_right()
repeat(go_pick_sub,5)
turn_left()
move()
put_beeper()
turn_left()
repeat(go_pick_sub,5)
def havest_sub():
repeat(go_pick_sub,6)
turn_left()
move()
put_beeper()
turn_left()
repeat(go_pick_sub,5)
go_go_sub()
go_go_sub()
move()
turn_left()
repeat(move,5)
turn_left()
#havest()
#havest()
#havest()
#havest()
#havest_sub()
sort()
turn_off()
~cpp
def turn():
repeat(turn_left, 2)
def turn_right():
repeat(turn_left, 3)
def go():
while front_is_clear():
if not next_to_a_beeper():
bringOne()
if front_is_clear():
move()
turn_right()
move()
turn_right()
def justGo():
for n in range(7):
move()
turn()
def bringOne():
while not next_to_a_beeper():
move()
if not front_is_clear():
break
doRest()
def doRest():
turn()
if next_to_a_beeper():
pick_beeper()
while front_is_clear():
move()
turn()
move()
move()
while next_to_a_beeper():
move()
put_beeper()
else:
turn()
for n in range(8):
justGo()
go()
turn_off()
~cpp
###############################
# Function Public Definitions #
###############################
#move/get/put functions
def right():
repeat(turn_left,3)
def back():
repeat(left,2)
move()
repeat(left,2)
def go_left():
left()
move()
right()
def go_right():
right()
move()
left()
def go():
move()
left = turn_left
get = pick_beeper
put = put_beeper
#find beeper
exist = next_to_a_beeper
####################
#private functions #
####################
def go_limit_right():
if not exist():
while not exist():
go_right()
while exist():
go_right()
go_left()
def notexist_wantone():
while left_is_clear():
go_left()
if exist():
get()
go_right()
while exist():
go_right()
put()
def process():
if not exist():
while left_is_clear():
go_left()
if exist():
get()
go_right()
while exist():
go_right()
put()
else: #exist
while left_is_clear():
go_left()
if not exist():
notexist_wantone()
# main source code #
#robot looks top
left()
go_limit_right()
go()
for i in range(5):
process()
back()
go_limit_right()
if not exist():
while not exist():
process()
back()
go_limit_right()
go()
else:
go()
process()
# Finish #
turn_off()