Acceleration 1000
-Speed 250
-Behaviour Wander
+Speed 150
+
+Behaviour Drive
take control:
action:
left motor forward
right motor forward
wait forever
-
-Behaviour StayInFieldBoth
- take control: (&& Light on left Light on right)
+Behaviour Wander
+ take control:
action:
- left motor backward with speed 1000 acceleration 10000
- right motor backward with speed 250 acceleration 10000
- wait 1000 ms
+ 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:
- right motor backward with speed 250 acceleration 10000
- left motor forward with speed 250 acceleration 10000
- wait 750 ms
+ turn right exactly 60 degrees
+ wait 500 ms
+
Behaviour StayInFieldR
take control: Light on right
action:
- right motor forward with speed 250 acceleration 10000
- left motor backward with speed 250 acceleration 10000
- wait 750 ms
+ turn left exactly 60 degrees
+ wait 500 ms
+
Behaviour StayInFieldB
take control: Distance dangerous at back
action:
- wait 750 ms
-
-Mission stayinfield using Wander StayInFieldL StayInFieldR StayInFieldB StayInFieldBoth and stops when Color is Cyan
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+ 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
\ No newline at end of file