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                 /*wait 500 ms
  71                 right motor forward
  72                 left motor forward
  73                 wait 500ms*/
  74
  75 Behaviour PushR
  76         take control: Touched on right
  77         action:
  78                 left motor forward
  79                 right motor backward
  80                 /*wait 500 ms
  81                 right motor forward
  82                 left motor forward
  83                 wait 1000 ms*/
  84
  85 Behaviour PushB
  86         take control: (&& Touched on left Touched on right)
  87         action:
  88                 set flag Pushing
  89                 left motor forward
  90                 right motor forward
  91                 wait 10000 ms
  92
  93 Behaviour StopPushing
  94         take control: (&& not Touched on left not Touched on right flag set Pushing)
  95         action:
  96                 set flag Pushed
  97
  98 /*Mission FindAndMeasureLakes
  99         using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
 100         and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 101
 102 Mission FindAndMeasureRocks
 103         using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
 104         and stops when flag set Measured */
 105 Mission PushRocks
 106         using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
 107         and stops when flag set Pushed