dsl/runtime/specs/wander.tdsl

   1 Acceleration 1000
   2 Speed 150
   3
   4 Behaviour Wander
   5         take control:
   6         action:
   7                 left motor forward
   8                 right motor forward
   9                 wait 2000 ms
  10                 turn randomly 0 to 45 degrees
  11                 left motor forward
  12                 right motor forward
  13                 wait 2000 ms
  14
  15 Behaviour StayInFieldL
  16         take control: Light on left
  17         action:
  18                 turn right exactly 60 degrees
  19                 wait 500 ms
  20
  21 Behaviour StayInFieldR
  22         take control: Light on right
  23         action:
  24                 turn left exactly 60 degrees
  25                 wait 500 ms
  26
  27 Behaviour StayInFieldB
  28         take control: Distance dangerous at back
  29         action:
  30                 left motor forward
  31                 right motor forward
  32                 wait 1000 ms
  33
  34 Behaviour MeasureLake
  35         take control: (|| Color is Green Color is Blue Color is Red)
  36         action:
  37                 measure
  38
  39 Behaviour BumpL
  40         take control: Touched on left
  41         action:
  42                 left motor backward with speed 50 acceleration 1000
  43                 right motor backward
  44                 wait 2000 ms
  45
  46 Behaviour BumpR
  47         take control: Touched on right
  48         action:
  49                 right motor backward with speed 50 acceleration 1000
  50                 left motor backward
  51                 wait 2000 ms
  52
  53 Mission findBlueLakeWhileAvoidingRocks
  54         using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
  55 Mission findAllLakesAndMeasureThem
  56         using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
  57 Mission justWander
  58         using Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan