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 Color is Yellow) not flag set GreenLake)
  43         action:
  44                 measure Lake
  45                 set flag GreenLake
  46
  47 Behaviour BlueLake
  48         take control: (&& Color is Blue not flag set BlueLake)
  49         action:
  50                 measure Lake
  51                 set flag BlueLake
  52
  53 Behaviour RedLake
  54         take control: (&& Color is Red not flag set RedLake)
  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 AvoidL
  66         take control: Touched on left
  67         action:
  68                 left motor forward
  69                 right motor backward
  70
  71 Behaviour AvoidR
  72         take control: Touched on right
  73         action:
  74                 right motor forward
  75                 left motor backward
  76
  77 Behaviour PushL
  78         take control: Touched on left
  79         action:
  80                 right motor forward
  81                 left motor forward with speed 50 acceleration 1000
  82
  83 Behaviour PushR
  84         take control: Touched on right
  85         action:
  86                 left motor forward
  87                 right motor forward with speed 50 acceleration 1000
  88
  89 Behaviour PushB
  90         take control: (&& Touched on left Touched on right)
  91         action:
  92                 set flag Pushing
  93                 left motor forward
  94                 right motor forward
  95                 wait forever
  96
  97 Behaviour StopPushing
  98         take control: (&& not Touched on left not Touched on right flag set Pushing)
  99         action:
 100                 left motor backward
 101                 right motor backward
 102                 wait 1000ms
 103                 turn left exactly 180 degrees
 104                 set flag Pushed
 105
 106 Behaviour FoundLineL
 107         take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
 108         action:
 109                 left motor backward with speed 75 acceleration 1000
 110                 right motor backward with speed 75 acceleration 1000
 111                 wait 1000 ms
 112                 set flag LeftLine
 113
 114 Behaviour FoundLineR
 115         take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
 116         action:
 117                 left motor backward with speed 75 acceleration 1000
 118                 right motor backward with speed 75 acceleration 1000
 119                 wait 1000 ms
 120                 set flag RightLine
 121
 122 Behaviour FollowLGood
 123         take control: (&& flag set LeftLine Light on left)
 124         action:
 125                 left motor forward with speed 75 acceleration 1000
 126                 right motor backward with speed 60 acceleration 1000
 127
 128 Behaviour FollowLBad
 129         take control: (&& flag set LeftLine not Light on left)
 130         action:
 131                 left motor forward  with speed 75 acceleration 1000
 132                 right motor forward with speed 100 acceleration 1000
 133
 134 Behaviour FollowRGood
 135         take control: (&& flag set RightLine Light on right)
 136         action:
 137                 right motor forward with speed 75 acceleration 1000
 138                 left motor backward with speed 60 acceleration 1000
 139
 140 Behaviour FollowRBad
 141         take control: (&& flag set RightLine not Light on right)
 142         action:
 143                 right motor forward  with speed 75 acceleration 1000
 144                 left motor forward with speed 100 acceleration 1000
 145
 146 Behaviour FoundParkingSpace
 147         take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
 148         action:
 149                 set flag Parked
 150
 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)
 157 Mission PushRocks
 158         using Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
 159         and stops when flag set Pushed
 160 Mission Park
 161         using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
 162         and stops when flag set Parked