FORWARD or FORWARD 3 — move forwardLEFT — turn left 90°RIGHT — turn right 90°WHILE CLEAR ( ... ) — repeat while no wallWHILE WALL ( ... ) — repeat while wall aheadWHILE NOT EXIT ( ... ) — repeat until exit reachedIF WALL ( ... ) — do if wall aheadIF CLEAR ( ... ) — do if no wall aheadIF WALL ( ... ) ELSE ( ... ) — if/else