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 GreenLake
	take control: (&& Color is Green not flag set GreenMeasured)
	action:
		measure Lake
		set flag GreenLake
		
Behaviour BlueLake
	take control: (&& Color is Blue not flag set BlueMeasured)
	action:
		measure Lake
		set flag BlueLake
		
Behaviour RedLake
	take control: (&& Color is Red not flag set RedMeasured)
	action:
		measure Lake
		set flag RedLake
		
Behaviour MeasureRock
	take control: (&& Distance dangerous at front not flag set Measured)
	action:
		measure Rock
		set flag Measured
				
Behaviour PushL
	take control: Touched on left
	action:
		right motor forward
		left motor backward
		
Behaviour PushR
	take control: Touched on right
	action:
		left motor forward
		right motor backward

Behaviour PushB
	take control: (&& Touched on left Touched on right)
	action:
		set flag Pushing
		left motor forward
		right motor forward
		wait forever

Behaviour StopPushing
	take control: (&& not Touched on left not Touched on right flag set Pushing)
	action:
		set flag Pushed
		
Mission FindAndMeasureLakes
	using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
Mission FindAndMeasureRocks
	using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
	and stops when flag set Measured
Mission PushRocks
	using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
	and stops when flag set Pushed