17 turn randomly 0 to 45 degrees
22 Behaviour StayInFieldL
23 take control: Light on left
25 turn right exactly 60 degrees
28 Behaviour StayInFieldR
29 take control: Light on right
31 turn left exactly 60 degrees
34 Behaviour StayInFieldB
35 take control: Distance dangerous at back
42 take control: (&& (|| Color is Green Color is Yellow) not flag set GreenLake)
48 take control: (&& Color is Blue not flag set BlueLake)
54 take control: (&& Color is Red not flag set RedLake)
60 take control: (&& Distance dangerous at front not flag set Measured)
66 take control: Touched on left
72 take control: Touched on right
78 take control: Touched on left
81 left motor forward with speed 50 acceleration 1000
84 take control: Touched on right
87 right motor forward with speed 50 acceleration 1000
90 take control: (&& Touched on left Touched on right)
98 take control: (&& not Touched on left not Touched on right flag set Pushing)
103 turn left exactly 180 degrees
107 take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
109 left motor backward with speed 75 acceleration 1000
110 right motor backward with speed 75 acceleration 1000
115 take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
117 left motor backward with speed 75 acceleration 1000
118 right motor backward with speed 75 acceleration 1000
122 Behaviour FollowLGood
123 take control: (&& flag set LeftLine Light on left)
125 left motor forward with speed 75 acceleration 1000
126 right motor backward with speed 60 acceleration 1000
129 take control: (&& flag set LeftLine not Light on left)
131 left motor forward with speed 75 acceleration 1000
132 right motor forward with speed 100 acceleration 1000
134 Behaviour FollowRGood
135 take control: (&& flag set RightLine Light on right)
137 right motor forward with speed 75 acceleration 1000
138 left motor backward with speed 60 acceleration 1000
141 take control: (&& flag set RightLine not Light on right)
143 right motor forward with speed 75 acceleration 1000
144 left motor forward with speed 100 acceleration 1000
146 Behaviour FoundParkingSpace
147 take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
151 Mission FindAndMeasureRocks
152 using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR MeasureRock
153 and stops when flag set Measured
154 Mission FindAndMeasureLakes
155 using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR GreenLake RedLake BlueLake
156 and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
158 using Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
159 and stops when flag set Pushed
161 using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
162 and stops when flag set Parked