int rotated = 0;
void pick(char side, char color)
{
  if (side == 'l')
  {
    if (gripper2 == 'e')
    {
      forward_mm(50);
      pick2();
      gripper2 = color;
    }
    else if (gripper3 == 'e')
    {
      forward_mm(100);
      pick3();
      gripper3 = color;
    }
    else
    {
      left_degrees(180);
      if (gripper4 == 'e')
      {
        backward_mm(50);
        pick4();
        gripper4 = color;
      }
      else if (gripper1 == 'e')
      {
        backward_mm(50);
        pick1();
        gripper1 = color;
      }
      rotated = 1;
    }
  }
  else if (side == 'r')
  {
    if (gripper1 == 'e')
    {
      forward_mm(50);
      pick1();
      gripper1 = color;
    }
    else if (gripper4 == 'e')
    {
      forward_mm(100);
      pick4();
      gripper4 = color;
    }
    else
    {
      left_degrees(180);
      if (gripper3 == 'e')
      {
        backward_mm(50);
        pick3();
        gripper3 = color;
      }
      else if (gripper2 == 'e')
      {
        backward_mm(50);
        pick2();
        gripper2 = color;
      }
      rotated = 1;
    }
  }
}