class RightRobot : ur_Robot
{
        void turnRight();
};

void RightRobot::turnRight()
{
        loop (3)
	{
        	turnLeft();
        }
}

class Harvester : RightRobot
{
	void harvestField();
        void harvestTwoRows();
        void positionForNextHarvest();
        void harvestOneRow();
        void harvestCorner();
        void goToNextRow();
};

void Harvester::harvestField()
{
	loop (3)
	{
		harvestTwoRows();
		positionForNextHarvest();
	}
}

void Harvester::harvestTwoRows()
{
        harvestOneRow();
        goToNextRow();
        harvestOneRow();
}

void Harvester::positionForNextHarvest()
{
        turnRight();
        move();
        turnRight();
}

void Harvester::harvestOneRow()
{
	move();
	loop (5)
        {
		harvestCorner();
        	move();
        }
}

void Harvester::harvestCorner()
{
        pickBeeper();
}

void Harvester::goToNextRow()
{
        turnLeft();
        move();
        turnLeft();
}