OCD Karel V2

package Challenge1;
import kareltherobot.*;

/**
 * This program puts beepers on the right side for every beeper on the left side
 */
public class Challenge1Main extends Robot{

    public Challenge1Main(int s, int a, Direction d, int b){
        super(s, a, d, b);
    }

    public static void main(String[] args) {

        World.setVisible(); //reads and creates the world
        World.setDelay(25);
        World.readWorld("KarelChallenges1.kwld");

        Challenge1Main zoro = new Challenge1Main(1,6, North,-1);

        while(zoro.frontIsClear()){ //the program runs until it encounters the final wall
            zoro.move();

            if(zoro.leftIsClear()){ //if there is no wall to the left, check for beepers there
                zoro.checkForBeeper();
                zoro.turnAround(); //moves back to outside the hole
                while(!zoro.leftIsClear()||!zoro.rightIsClear()){
                    zoro.move();
                }
                zoro.turnLeft();
            }
        }
    }

    /**
     * This method allows the robot to instantly turn right
     */
    public void turnRight(){
        int delay = World.delay();
        World.setDelay(0);
        turnLeft();
        turnLeft();
        World.setDelay(delay);
        turnLeft();
    }

    /**
     * allows the robot to instantly turn around
     */
    public void turnAround(){
        int delay = World.delay();
        World.setDelay(0); //by changing the delay, the robot turns left instantaneously
        turnLeft();
        World.setDelay(delay);
        turnLeft();
    }

    /**
     * This method allows the robot to instantly check if there is a wall to the left
     * @return if the left intersection is clear
     */
    public boolean leftIsClear(){
        int delay = World.delay();
        World.setDelay(0);
        boolean z = false;
        turnLeft();
        if(frontIsClear()){
            z = true;
        }
        World.setDelay(delay);
        turnRight();
        return z;
    }

    /**
     * This method allows the robot to instantly check if there is a wall to the right
     * @return if the right intersection is clear
     */
    public boolean rightIsClear(){
        int delay = World.delay();
        World.setDelay(0);
        boolean z = false;
        turnRight();
        if(frontIsClear()){
            z = true;
        }
        World.setDelay(delay);
        turnLeft();
        return z;
    }

    /**
     * Checks if there is a beeper in the hole
     */
    public void checkForBeeper(){
        turnLeft();

        while(frontIsClear()){ //move forward until it encounters a wall
            move();
        }

        if(nextToABeeper()){ //if there is a beeper, put a beeper on the other side and move back
            putBeeperOnOtherSide();
        }
    }

    /**
     * Puts a beeper on the other side if there isn't one
     */
    public void putBeeperOnOtherSide(){
        turnAround();
        while(frontIsClear()){ //move forward until it encounters a wall
            move();
        }

        if(!nextToABeeper()){ //if there isn't already a beeper there, put one
            putBeeper();
        }

        turnAround(); //move back
        while(frontIsClear()){
            move();
        }
    }
}