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
		/*wait 500 ms
		right motor forward
		left motor forward
		wait 500ms*/
		
Behaviour PushR
	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 PushB
	take control: (&& Touched on left Touched on right)
	action:
		set flag Pushing
		left motor forward
		right motor forward
		wait 10000 ms

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