Name MartNatanael
Acceleration 1000
Speed 200
Behaviour Wander 
	take control:
	action:
		Left motor Forwards
		Right motor Forwards
		wait forever
Behaviour AvoidLowLeftObjects
	take control: Touched on Left
	action:
		Left motor Backwards
		Right motor Backwards
		wait 250 ms
		Right motor Backwards
		Left motor Forwards
		wait 250 ms
Behaviour AvoidLowRightObjects
	take control: Touched on Right
	action:
		Left motor Backwards
		Right motor Backwards
		wait 250 ms
		Right motor Forwards
		Left motor Backwards
		wait 250 ms
Behaviour AvoidHighObjects
	take control: Distance < 50 cm
	action:
		Right motor Forwards
		wait 250 ms
Behaviour StayInLine
	take control: (or Color is Black Color is DarkGray)
	action:
		Right motor Forwards
		Left motor Backwards
		wait 250 ms
Mission Assignment 
using 
	Wander 
	AvoidLowLeftObjects
	AvoidLowRightObjects
	AvoidHighObjects
	StayInLine
and stops when
	Collected at least Blue Green Yellow