Object: Ball //Generic Spherical Item
Object: Box //Generic Cubical item with one open side

General Definitions

Define Distance:  The extent of space between two objects or places; an intervening space.  Measured using the foot.  //http://www.thefreedictionary.com/distance

Define Foot: A unit of length in the U.S. Customary and British Imperial systems equal to 12 inches (0.3048 meter) //http://www.thefreedictionary.com/foot

Define distance_to_box as Distance between Body and Ball

Define Global Variable 'StepsTaken' As Integer

Define Walk:
	If distace_to_box < 1 foot Then exit loop
	LLeg XferWeight
	RLeg Lift(fwd)
	StepsTaken += 1
	RLeg XFerWeight
If distace_to_box < 1 foot Then exit loop
	LLeg Lift(fwd)
	StepsTaken += 1
End Define

Define RotateLeft(Degrees_to_turn as Integer):
	Turn(L, Degrees_to_turn)
End Define

Define RotateRight(Degrees_to_turn as Integer):
	Turn(R, Degrees_to_Turn)
End Define

Define SideStepL:
	RLeg XferWeight
	LLeg Lift Left
	LLeg XFerWeight
	RLeg Lower_To_Ground
End Define
-------

Main Program:

Begin Main()
	Loop Until Body_Touch_Sensor = True
		Loop Until STepsTaken =3
			Walk
		End Loop
		StepsTaken = 0
:AfterSixStep
		Loop Until StepsTaken >= 6
			Walk
		End Loop
		RotateLeft(89)
		StepsTaken = 0
		Goto AfterSixStep
	End loop
	If Touching_Table = True and distance_to_box >= 1 foot Then
		Loop until Perpendicular_to_Table = True
			Turn(L, 1)
		End loop
		LowerRArm(Lift, fwd)
		Loop Until Body_touch_Sensor = False OR Hand_Touch_Sensor = True
			If Body_Touch_Sensor = False Then
				Loop Until Hand_Touch_Sensor = True
					SideStepR
				End loop
				UpperRArm(Lift Fwd to 45deg toward Floor_Plane)
				UpperRArm(Rotate 45deg Anti-Clockwise)
				Loop Until RHand is Inside Box
					LowerRArm(Lower 5 deg)
				End Loop
				Call FindBall
				End
			End If
			If Hand_Touch_Sensor = True Then
				UpperRArm(Lift Fwd to 45deg toward Floor_Plane)
				UpperRArm(Rotate 45deg Clockwise)
				Loop Until RHand is Inside Box
					LowerRArm(Lower 5 deg)
				End Loop
				Call FindBall
				End
			End If
		End Loop
	End if
If distance_to_box < 1 foot Then
	Call Take_Ball
End If
Loop until distace_to_box < 1 foot
Walk
End Loop

End
End Main