Sense Ahead 1 3 Food  ; state 0:  [SEARCH] is there food in front of me?
Move 2 0              ; state 1:  YES: move onto food (return to state 0 on failure)
PickUp 8 0            ; state 2:       pick up food and jump to state 8 (or 0 on failure)
Flip 3 4 5            ; state 3:  NO: choose whether to...
Turn Left 0           ; state 4:      turn left and return to state 0
Flip 2 6 7            ; state 5:      ...or...
Turn Right 0          ; state 6:      turn right and return to state 0
Move 0 3              ; state 7:      ...or move forward and return to state 0 (or 3 on failure)
Sense Ahead 9 11 Home ; state 8:  [GO HOME] is the cell in front of me my anthill?   
Move 10 8             ; state 9:  YES: move onto anthill
Drop 0                ; state 10:     drop food and return to searching
Flip 3 12 13          ; state 11: NO: choose whether to...
Turn Left 8           ; state 12:     turn left and return to state 8                  
Flip 2 14 15          ; state 13:     ...or...                                    
Turn Right 8          ; state 14:     turn right and return to state 8                 
Move 8 11             ; state 15:     ...or move forward and return to state 8