Step 2: Find the room with the candle
After step 1, the robot knows where it is. It will be at a specific location outside of one of the four rooms. At this time, it goes to a scripted set of commands to go to the other three rooms to find the candle. Since there are 4 rooms to start from, there are 4 separate scripts. This way, each path can be optimized for best time.
The scripts are implemented as a table as described in the Processor and Software Architecture section. There are a number of different maneuvers commanded by the "operating modes" of the table. e.g. Go forward for a distance