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 MeasureGreenLake
	take control: (&& Color is Green not flag set GreenMeasured)
	action:
		measure Lake
		set flag GreenMeasured
Behaviour MeasureBlueLake
	take control: (&& Color is Blue not flag set BlueMeasured)
	action:
		measure Lake
		set flag BlueMeasured
Behaviour MeasureRedLake
	take control: (&& Color is Red not flag set RedMeasured)
	action:
		measure Lake
		set flag RedMeasured
		
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

Behaviour MeasureRock
	take control: (&& Distance dangerous at front not flag set RockMeasured)
	action:
		measure Rock
		set flag RockMeasured

Behaviour FindParkingL
	take control: Light on left
	action:
		turn left exactly 10 degrees with speed 20 acceleration 1000

Behaviour FindParkingR
	take control: Light on right
	action:
		turn right exactly 10 degrees with speed 20 acceleration 1000

Behaviour FindParkingSpace
	take control: (&& Light on right Light on left)
	action:
		right motor backward with speed 80 acceleration 1000
		left motor backward with speed 80 acceleration 1000
		wait 1000 ms
		turn right exactly 180 degrees
		set flag Parked

//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 MeasureRocks
	using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
Mission FindParkingSpaceInTheCorner
	using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
//Mission measureLakes
//	using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
//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