Debugging

/*
 * File: MidpointFindingKarel.java
 * -------------------------------
 * When you finish writing it, the MidpointFindingKarel class should
 * leave a beeper on the corner closest to the center of 1st Street
 * (or either of the two central corners if 1st Street has an even
 * number of corners).  Karel can put down additional beepers as it
 * looks for the midpoint, but must pick them up again before it
 * stops.  The world may be of any size, but you are allowed to
 * assume that it is at least as tall as it is wide.
 */

import stanford.karel.*;

public class MidpointFindingKarel extends SuperKarel {
        public void run () {
                makeDiagonalRight () ;
                putBeeper () ;
                setUpForNextDiagonal () ;
                makeDiagonalLeft () ;
                putBeeper () ;
                turnLeft () ;
                checkForLoneBeeper () ;
                }

        private void makeDiagonalRight () {
                while (frontIsClear()) {
                        putBeeper () ;
                        move () ;
                        turnLeft () ;
                        move () ;
                        turnRight () ;
                }
        }

        private void setUpForNextDiagonal () {
                turnAround () ;
                while (frontIsClear()) {
                        move () ;
                }
                turnAround () ;
        }


        private void makeDiagonalLeft () {
                while (frontIsClear()) {
                        if (noBeepersPresent()) {
                                putBeeper () ;
                        }
                        move () ;
                        turnRight () ;
                        move () ;
                        turnLeft () ;
                }
        }

        private void checkForLoneBeeper () {
                while (leftIsClear()) {
                        while (noBeepersPresent() && frontIsClear()) {
                                move () ;
                        }
                        if (beepersPresent()) {
                                move () ;
                                }
                        while (noBeepersPresent() && frontIsClear ()) {
                                move () ;
                        }
                        checkForSecondBeeper () ;
                        if (frontIsBlocked()) {
                                placeMidpointBeeper () ;
                        }
                }
        }

        private void checkForSecondBeeper () {
                if (beepersPresent() && facingNorth ()) {
                        if (frontIsBlocked()) {
                                turnLeft () ;
                                move () ;
                                turnLeft () ;
                                move () ;
                        }
                        while (frontIsClear() && facingNorth ()) {
                                move () ;
                                if (frontIsBlocked()) {
                                        turnLeft () ;
                                        move () ;
                                        turnLeft () ;
                                        move () ;
                                }
                        }
                }
                if (beepersPresent() && facingSouth ()) {
                        if (frontIsBlocked()) {
                                turnRight () ;
                                move () ;
                                turnRight () ;
                                move () ;
                        }
                        while (frontIsClear() && facingSouth ()) {
                                move () ;
                                if (frontIsBlocked()) {
                                        turnRight () ;
                                        move () ;
                                        turnRight () ;
                                        move () ;
                                }
                        }
                }
        }

        private void placeMidpointBeeper () {
                turnAround () ;
                while (noBeepersPresent()) {
                        move () ;
                }
                if (beepersPresent()) {
                        pickBeeper () ;
                }
                while (frontIsClear()) {
                        move () ;
                }
                if (frontIsBlocked()) {
                        putBeeper () ;
                        turnRight () ;
                        move () ;
                        cleanUpBeepers () ;
                }
        }

        private void cleanUpBeepers () {
                while (noBeepersPresent()) {
                        move () ;
                }
                if (beepersPresent()) {
                        pickBeeper () ;
                }
                if (frontIsBlocked()) {
                        turnRight () ;
                        move () ;
                        turnRight () ;
                        move () ;
                }
        }
}