<How might I properly get choreography working for...

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How might I properly get choreography working for this problem?

Problem 4_7 for Karel J Robot▾

I'm learning polymorphism in the programming language, Kotlin, and came across this problem to do choreography with 3 helpers (see image). The layout of beepers should cover the cross entirely all around with just one beeper only. With my code so far, I only have two robots and they somewhat cooperate but there are still problems.
This is my code so far:
import kareltherobot.*
import...