Acceleration 1000
Speed 150

Behaviour Drive
	take control:
	action:
		left motor forward
		right motor forward
		wait forever
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 Lake
		
Behaviour LocateL
	take control: Touched on left
	action:
		right motor forward
		left motor backward
		wait 500 ms
		right motor forward
		left motor forward
		wait 1000 ms
		
Behaviour LocateR
	take control: Touched on right
	action:
		left motor forward
		right motor backward
		wait 500 ms
		right motor forward
		left motor forward
		wait 1000 ms

Behaviour Push
	take control: (&& Touched on left Touched on right)
	action:
		left motor forward
		right motor forward
		wait 1000 ms
		
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

Behaviour AvoidHigh
	take control: Distance dangerous at front
	action: 
		turn randomly 10 to 11 degrees
		
//Mission pushRock
//	using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
Mission avoidHighRocks
	using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
//Mission measureLake
//	using Drive MeasureLake and stops when Never
//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 Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan