dsl/runtime/specs/wander.tdsl

   1 Acceleration 1000
   2 Speed 150
   3
   4 Behaviour Drive
   5         take control:
   6         action:
   7                 left motor forward
   8                 right motor forward
   9                 wait forever
  10 Behaviour Wander
  11         take control:
  12         action:
  13                 left motor forward
  14                 right motor forward
  15                 wait 2000 ms
  16                 turn randomly 0 to 45 degrees
  17                 left motor forward
  18                 right motor forward
  19                 wait 2000 ms
  20
  21 Behaviour StayInFieldL
  22         take control: Light on left
  23         action:
  24                 turn right exactly 60 degrees
  25                 wait 500 ms
  26
  27 Behaviour StayInFieldR
  28         take control: Light on right
  29         action:
  30                 turn left exactly 60 degrees
  31                 wait 500 ms
  32
  33 Behaviour StayInFieldB
  34         take control: Distance dangerous at back
  35         action:
  36                 left motor forward
  37                 right motor forward
  38                 wait 1000 ms
  39
  40 Behaviour MeasureGreenLake
  41         take control: (&& Color is Green not flag set GreenMeasured)
  42         action:
  43                 measure Lake
  44                 set flag GreenMeasured
  45 Behaviour MeasureBlueLake
  46         take control: (&& Color is Blue not flag set BlueMeasured)
  47         action:
  48                 measure Lake
  49                 set flag BlueMeasured
  50 Behaviour MeasureRedLake
  51         take control: (&& Color is Red not flag set RedMeasured)
  52         action:
  53                 measure Lake
  54                 set flag RedMeasured
  55
  56 Behaviour LocateL
  57         take control: Touched on left
  58         action:
  59                 right motor forward
  60                 left motor backward
  61                 wait 500 ms
  62                 right motor forward
  63                 left motor forward
  64                 wait 1000 ms
  65
  66 Behaviour LocateR
  67         take control: Touched on right
  68         action:
  69                 left motor forward
  70                 right motor backward
  71                 wait 500 ms
  72                 right motor forward
  73                 left motor forward
  74                 wait 1000 ms
  75
  76 Behaviour Push
  77         take control: (&& Touched on left Touched on right)
  78         action:
  79                 left motor forward
  80                 right motor forward
  81                 wait 1000 ms
  82
  83 Behaviour BumpL
  84         take control: Touched on left
  85         action:
  86                 left motor backward with speed 50 acceleration 1000
  87                 right motor backward
  88                 wait 2000 ms
  89
  90 Behaviour BumpR
  91         take control: Touched on right
  92         action:
  93                 right motor backward with speed 50 acceleration 1000
  94                 left motor backward
  95                 wait 2000 ms
  96
  97 Behaviour AvoidHigh
  98         take control: Distance dangerous at front
  99         action:
 100                 turn randomly 10 to 11 degrees
 101
 102 Behaviour MeasureRock
 103         take control: (&& Distance dangerous at front not flag set RockMeasured)
 104         action:
 105                 measure Rock
 106                 set flag RockMeasured
 107
 108 Behaviour FindParkingL
 109         take control: Light on left
 110         action:
 111                 turn left exactly 10 degrees with speed 20 acceleration 1000
 112
 113 Behaviour FindParkingR
 114         take control: Light on right
 115         action:
 116                 turn right exactly 10 degrees with speed 20 acceleration 1000
 117
 118 Behaviour FindParkingSpace
 119         take control: (&& Light on right Light on left)
 120         action:
 121                 right motor backward with speed 80 acceleration 1000
 122                 left motor backward with speed 80 acceleration 1000
 123                 wait 1000 ms
 124                 turn right exactly 180 degrees
 125                 set flag Parked
 126
 127 //Mission pushRock
 128 //      using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
 129 //Mission avoidHighRocks
 130 //      using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
 131 Mission MeasureRocks
 132         using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
 133 Mission FindParkingSpaceInTheCorner
 134         using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
 135 //Mission measureLakes
 136 //      using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
 137 //Mission findBlueLakeWhileAvoidingRocks
 138 //      using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
 139 //Mission findAllLakesAndMeasureThem
 140 //      using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
 141 //Mission justWander
 142 //      using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan