Acceleration 1000
Speed 250
Behaviour Wander
	take control:
	action:
		left motor forward
		right motor forward
		wait forever

Behaviour StayInFieldBoth
	take control: (&& Light on left Light on right)
	action:
		left motor backward with speed 1000 acceleration 10000
		right motor backward with speed 250 acceleration 10000
		wait 1000 ms
Behaviour StayInFieldL
	take control: Light on left
	action:
		right motor backward with speed 250 acceleration 10000
		left motor forward with speed 250 acceleration 10000
		wait 750 ms
Behaviour StayInFieldR
	take control: Light on right
	action:
		right motor forward with speed 250 acceleration 10000
		left motor backward with speed 250 acceleration 10000
		wait 750 ms
Behaviour StayInFieldB
	take control: Distance dangerous at back
	action:
		wait 750 ms
	 
Mission stayinfield using Wander StayInFieldL StayInFieldR StayInFieldB StayInFieldBoth and stops when Color is Cyan