; fsm from lecture ; | T T ;state L R | next L R F ;----------+------------- lost 0 0 | lost 0 0 1 lost 1 - | rotccw 0 0 1 lost 0 1 | rotccw 0 0 1 rotccw 0 0 | wall1 1 0 0 rotccw 1 - | rotccw 1 0 0 rotccw 0 1 | rotccw 1 0 0 wall1 - 0 | wall1 0 1 1 wall1 - 1 | wall2 0 1 1 wall2 1 - | rotccw 1 0 1 wall2 0 1 | wall2 1 0 1 wall2 0 0 | wall1 1 0 1
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