2.4.2.txt

void quantize(){
    while(frontIsClear()){
        quantizeCollumn();
        moveForward();
    }
    quantizeCollumn();
}

void quantizeCollumn(){
    turnLeft();
    repeat(5){
        moveForward();
    }
    if(onBeeper()){
        while(frontIsClear()){
            moveForward();
            if(!onBeeper()){
                dropBeeper();
            }
        }
        turnAround();
        while(frontIsClear()){
            moveForward();
        }
        turnLeft();
    }
    else{
        turnAround();
        while(frontIsClear()){
            moveForward();
            if(onBeeper()){
                pickBeeper();
            }
        }
        turnLeft();
    }
}