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this is what I got so far, ignore abovewhile !isOnClosedSwitch { while isBlockedLeft || isBlockedRight { moveForward() if isBlocked && isBlockedRight { turnLeft() } if isBlocked && isBlockedLeft { turnRight() } if isBlocked && !isBlockedRight { turnLeft() } while isOnGem { collectGem() } while isOnClosedSwitch { toggleSwitch() } }