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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