def checkLeft():
    if left_is_clear():
        turn_left()
        move()
    elif front_is_clear():
        move()
    elif right_is_clear():
        turn_right()
        move()
    else :
        turn_left()
        turn_left()
        move()
        
while on_beeper:
    checkLeft()
    if on_beeper():
        turn_off()
turn_off()

def rightHarv():
    repeat(moveAndPick, 6)
def leftHarv():
    turn_left()
    move()
    pick_beeper()
    turn_left()
    repeat(moveAndPick, 6)
    turn_right()
    move()
    turn_right()
i = 0
for i in range(0, 3):
    rightHarv()
    leftHarv()
turn_off()

def turn_right() :
    repeat(turn_left, 3)
    
def dance():
    repeat(turn_left, 4)

while front_is_clear():
    dance()
    move()
    while not front_is_clear():
        repeat(turn_right, 3)
        move()
turn_off()