Roll Left, Roll Right

while !isBlocked {
    moveForward()
    if isOnGem {
        collectGem()
        turnRight()
        moveForward()
        collectGem()
    } else if isOnClosedSwitch && isBlockedLeft {
        toggleSwitch()
        turnRight()
    } else if isOnClosedSwitch && isBlockedRight {
        toggleSwitch()
        turnLeft()
        moveForward()
        toggleSwitch()
    } else if isBlocked && isBlockedRight {
        turnLeft()
    }
}

So funny how many options there are to solve this puzzle! This one took me so long to figure out (more than what I'd like to admit), and I felt oddly relieved after I saw the code worked.

Here's what I came up with:

func navAround() {
    if !isBlocked {
        while isOnGem || isOnClosedSwitch {
            if isOnGem {
                collectGem()
            } else if isOnClosedSwitch {
                toggleSwitch()
            }
        }
        moveForward()
    } else if isBlockedLeft && isBlocked {
        turnRight()
    } else {
        turnLeft()
    }
}

while !isOnOpenSwitch {
    navAround()
}

Cheers!