;11171
; 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 1 0 0 0 0      
lost   - 1 - | rotccw 1 0 0 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 - | count1 0 1 1 0 0      
wall1  - 1 - | wall2  1 0 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
                                   
count1 - 0 - | count2 0 1 1 0 0    
count1 - 1 - | wall2  1 0 1 0 0   
count2 - 0 - | count3 0 1 1 0 0    
count2 - 1 - | wall2  1 0 1 0 0    
count3 - 0 - | count4 0 1 1 0 0    
count3 - 1 - | wall2  1 0 1 0 0    
count4 - 0 - | wall3  0 1 1 0 0    
count4 - 1 - | wall2  1 0 1 0 0

wall3  - 0 - | wall3  0 1 1 0 0
wall3  - 1 0 | wall2  1 0 1 1 0
wall3  - 1 1 | lost   1 0 1 0 0