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 MeasureLake
  41         take control: (|| Color is Green Color is Blue Color is Red)
  42         action:
  43                 measure Lake
  44
  45 Behaviour LocateL
  46         take control: Touched on left
  47         action:
  48                 right motor forward
  49                 left motor backward
  50                 wait 500 ms
  51                 right motor forward
  52                 left motor forward
  53                 wait 1000 ms
  54
  55 Behaviour LocateR
  56         take control: Touched on right
  57         action:
  58                 left motor forward
  59                 right motor backward
  60                 wait 500 ms
  61                 right motor forward
  62                 left motor forward
  63                 wait 1000 ms
  64
  65 Behaviour Push
  66         take control: (&& Touched on left Touched on right)
  67         action:
  68                 left motor forward
  69                 right motor forward
  70                 wait 1000 ms
  71
  72 Behaviour BumpL
  73         take control: Touched on left
  74         action:
  75                 left motor backward with speed 50 acceleration 1000
  76                 right motor backward
  77                 wait 2000 ms
  78
  79 Behaviour BumpR
  80         take control: Touched on right
  81         action:
  82                 right motor backward with speed 50 acceleration 1000
  83                 left motor backward
  84                 wait 2000 ms
  85
  86 Behaviour AvoidHigh
  87         take control: Distance dangerous at front
  88         action:
  89                 turn randomly 10 to 11 degrees
  90
  91 //Mission pushRock
  92 //      using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
  93 Mission avoidHighRocks
  94         using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
  95 //Mission measureLake
  96 //      using Drive MeasureLake and stops when Never
  97 //Mission findBlueLakeWhileAvoidingRocks
  98 //      using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
  99 //Mission findAllLakesAndMeasureThem
 100 //      using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
 101 //Mission justWander
 102 //      using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan