void cleanTheTunnels(){
    
    repeat(20){
        
        if(onBeeper())
        {
            turnLeft();
            pickBeeper();
            
            while(beeperAhead()) {
                moveForward();
                pickBeeper();    }
            
            turnAround();
            
            while(frontIsClear()) {
                moveForward();    }
            
            turnLeft();
        }
        else { if(frontIsClear()) { moveForward(); } }
    }
}