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 //Mission pushRock
 103 //      using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
 104 //Mission avoidHighRocks
 105 //      using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
 106 Mission measureLakes
 107         using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
 108 //Mission findBlueLakeWhileAvoidingRocks
 109 //      using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
 110 //Mission findAllLakesAndMeasureThem
 111 //      using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
 112 //Mission justWander
 113 //      using Wander Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan