private void executeRoutine()
    {
    	String str=routine.get(routinespot);
        if(str.equalsIgnoreCase("N"))
        {
                moveNorth(3);
        }
        else if(str.equalsIgnoreCase("W"))
        {
                moveWest(3);
        }
        else if(str.equalsIgnoreCase("E"))
        {
                moveEast(3);
        }
        else if(str.equalsIgnoreCase("S"))
        {
                moveSouth(3);
        }
        routinespot++;
        if(routinespot==4)
        {
                routinespot=0;
        }
    }