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
  11 Behaviour Wander
  12         take control:
  13         action:
  14                 left motor forward
  15                 right motor forward
  16                 wait 2000 ms
  17                 turn randomly 0 to 45 degrees
  18                 left motor forward
  19                 right motor forward
  20                 wait 2000 ms
  21
  22 Behaviour StayInFieldL
  23         take control: Light on left
  24         action:
  25                 turn right exactly 60 degrees
  26                 wait 500 ms
  27
  28 Behaviour StayInFieldR
  29         take control: Light on right
  30         action:
  31                 turn left exactly 60 degrees
  32                 wait 500 ms
  33
  34 Behaviour StayInFieldB
  35         take control: Distance dangerous at back
  36         action:
  37                 left motor forward
  38                 right motor forward
  39                 wait 1000 ms
  40
  41 Behaviour GreenLake
  42         take control: (&& Color is Green not flag set GreenMeasured)
  43         action:
  44                 measure Lake
  45                 set flag GreenLake
  46
  47 Behaviour BlueLake
  48         take control: (&& Color is Blue not flag set BlueMeasured)
  49         action:
  50                 measure Lake
  51                 set flag BlueLake
  52
  53 Behaviour RedLake
  54         take control: (&& Color is Red not flag set RedMeasured)
  55         action:
  56                 measure Lake
  57                 set flag RedLake
  58
  59 Behaviour MeasureRock
  60         take control: (&& Distance dangerous at front not flag set Measured)
  61         action:
  62                 measure Rock
  63                 set flag Measured
  64
  65 Behaviour PushL
  66         take control: Touched on left
  67         action:
  68                 right motor forward
  69                 left motor backward
  70
  71 Behaviour PushR
  72         take control: Touched on right
  73         action:
  74                 left motor forward
  75                 right motor backward
  76
  77 Behaviour PushB
  78         take control: (&& Touched on left Touched on right)
  79         action:
  80                 set flag Pushing
  81                 left motor forward
  82                 right motor forward
  83                 wait forever
  84
  85 Behaviour StopPushing
  86         take control: (&& not Touched on left not Touched on right flag set Pushing)
  87         action:
  88                 set flag Pushed
  89
  90 Behaviour FoundLineL
  91         take control: Light on left
  92         action:
  93                 set flag LeftLine
  94
  95 Behaviour FoundLineR
  96         take control: Light on right
  97         action:
  98                 set flag RightLine
  99
 100 Behaviour FollowLGood
 101         take control: (&& flag set LeftLine Light on left)
 102         action:
 103                 left motor forward with speed 75 acceleration 1000
 104                 right motor backward with speed 50 acceleration 1000
 105
 106 Behaviour FollowLBad
 107         take control: (&& flag set LeftLine not Light on left)
 108         action:
 109                 left motor forward  with speed 75 acceleration 1000
 110                 right motor forward with speed 100 acceleration 1000
 111
 112 Behaviour FollowRGood
 113         take control: (&& flag set RightLine Light on right)
 114         action:
 115                 right motor forward with speed 75 acceleration 1000
 116                 left motor backward with speed 50 acceleration 1000
 117
 118 Behaviour FollowRBad
 119         take control: (&& flag set RightLine not Light on right)
 120         action:
 121                 right motor forward  with speed 75 acceleration 1000
 122                 left motor forward with speed 100 acceleration 1000
 123
 124 Behaviour FoundParkingSpace
 125         take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)// (|| Light on left Light on right))
 126         action:
 127                 set flag Parked
 128
 129                 /*
 130 Mission FindAndMeasureLakes
 131         using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
 132         and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 133 Mission FindAndMeasureRocks
 134         using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
 135         and stops when flag set Measured
 136 Mission PushRocks
 137         using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
 138         and stops when flag set Pushed*/
 139 Mission Park
 140         using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood FoundParkingSpace
 141         and stops when flag set Parked