; fsm from lecture

;            |        T T      
;now   L R S | next   L R F M E
;------------+-----------------
lost   0 0 - | lost   0 0 1 0 0
lost   1 - - | rotccw 0 0 1 0 0
lost   0 1 - | rotccw 0 0 1 0 0

rotccw 0 0 - | wall1  1 0 0 0 0
rotccw 1 - - | rotccw 1 0 0 0 0
rotccw 0 1 - | rotccw 1 0 0 0 0

wall1  - 0 - | 1wall1  0 1 1 0 0
1wall1  - 0 - | 2wall1  0 1 1 0 0
2wall1  - 0 - | 3wall1  0 1 1 0 0
3wall1  - 0 - | 4wall1  0 1 1 0 0
4wall1  - 0 - | 5wall1  0 1 1 0 0
5wall1  - 0 - | 6wall1  0 1 1 0 0
6wall1  - 0 - | 7wall1  0 1 1 0 0

7wall1  - 0 0 | wall1  0 1 1 1 0
7wall1  - 0 1 | lost  0 1 1 0 1


wall1  - 1 - | wall2  0 1 1 0 0
1wall1  - 1 - | wall2  0 1 1 0 0
2wall1  - 1 - | wall2  0 1 1 0 0
3wall1  - 1 - | wall2  0 1 1 0 0
4wall1  - 1 - | wall2  0 1 1 0 0
5wall1  - 1 - | wall2  0 1 1 0 0
6wall1  - 1 - | wall2  0 1 1 0 0
7wall1  - 1 - | wall2  0 1 1 0 0


wall2  1 - - | rotccw 1 0 1 0 0
wall2  0 1 - | wall2  1 0 1 0 0
wall2  0 0 - | wall1  1 0 1 0 0