4.8

while not reached_goal():
    if has_path_left():
        turn_left()
        if enemy_in_sight():
            fire()
            turn_right()
    elif has_path_right():
        turn_right()
        if enemy_in_sight():
            fire()
            turn_left()
    if has_path_ahead():
        forward()
    else:
        jump()