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 Color is Yellow) not flag set GreenLake)
	action:
		measure Lake
		set flag GreenLake
		
Behaviour BlueLake
	take control: (&& Color is Blue not flag set BlueLake)
	action:
		measure Lake
		set flag BlueLake
		
Behaviour RedLake
	take control: (&& Color is Red not flag set RedLake)
	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 AvoidL
	take control: Touched on left
	action:
		left motor forward
		right motor backward
		
Behaviour AvoidR
	take control: Touched on right
	action:
		right motor forward
		left motor backward
				
Behaviour PushL
	take control: Touched on left
	action:
		right motor forward
		left motor forward with speed 50 acceleration 1000
		
Behaviour PushR
	take control: Touched on right
	action:
		left motor forward
		right motor forward with speed 50 acceleration 1000

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:
		left motor backward
		right motor backward
		wait 1000ms
		turn left exactly 180 degrees
		set flag Pushed
		
Behaviour FoundLineL
	take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
	action:
		left motor backward with speed 75 acceleration 1000
		right motor backward with speed 75 acceleration 1000
		wait 1000 ms
		set flag LeftLine

Behaviour FoundLineR
	take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
	action:
		left motor backward with speed 75 acceleration 1000
		right motor backward with speed 75 acceleration 1000
		wait 1000 ms
		set flag RightLine
		
Behaviour FollowLGood
	take control: (&& flag set LeftLine Light on left)
	action:
		left motor forward with speed 75 acceleration 1000
		right motor backward with speed 60 acceleration 1000

Behaviour FollowLBad
	take control: (&& flag set LeftLine not Light on left)
	action:
		left motor forward  with speed 75 acceleration 1000
		right motor forward with speed 100 acceleration 1000
		
Behaviour FollowRGood
	take control: (&& flag set RightLine Light on right)
	action:
		right motor forward with speed 75 acceleration 1000
		left motor backward with speed 60 acceleration 1000

Behaviour FollowRBad
	take control: (&& flag set RightLine not Light on right)
	action:
		right motor forward  with speed 75 acceleration 1000
		left motor forward with speed 100 acceleration 1000
		
Behaviour FoundParkingSpace
	take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
	action:
		set flag Parked
		
Mission FindAndMeasureRocks
	using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR MeasureRock
	and stops when flag set Measured
Mission FindAndMeasureLakes
	using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR GreenLake RedLake BlueLake 
	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
Mission PushRocks
	using Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
	and stops when flag set Pushed
Mission Park
	using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
	and stops when flag set Parked