Acceleration 1000
Speed 150

Behaviour Wander
	take control:
	action:
		left motor forward
		right motor forward
		wait 2000 ms
		turn randomly 0 to 45 degrees
		left motor forward
		right motor forward
		wait 2000 ms
		
Behaviour StayInFieldL
	take control: Light on left
	action:
		turn right exactly 60 degrees
		wait 500 ms
		
Behaviour StayInFieldR
	take control: Light on right
	action:
		turn left exactly 60 degrees
		wait 500 ms
		
Behaviour StayInFieldB
	take control: Distance dangerous at back
	action:
		left motor forward
		right motor forward
		wait 1000 ms
		
Behaviour MeasureLake
	take control: (|| Color is Green Color is Blue Color is Red)
	action:
		measure
		
Behaviour BumpL
	take control: Touched on left
	action:
		left motor backward with speed 50 acceleration 1000
		right motor backward
		wait 2000 ms
		
Behaviour BumpR
	take control: Touched on right
	action:
		right motor backward with speed 50 acceleration 1000
		left motor backward
		wait 2000 ms
		
Mission findBlueLakeWhileAvoidingRocks
	using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
Mission findAllLakesAndMeasureThem
	using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
Mission justWander 
	using Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan