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 not flag set GreenMeasured)
48 take control: (&& Color is Blue not flag set BlueMeasured)
54 take control: (&& Color is Red not flag set RedMeasured)
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 Touched on right)
86 take control: (&& not Touched on left not Touched on right flag set Pushing)
90 Mission FindAndMeasureLakes
91 using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
92 and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
93 Mission FindAndMeasureRocks
94 using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
95 and stops when flag set Measured
97 using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
98 and stops when flag set Pushed