Acceleration 1000
Speed 150
-Behaviour Wander
+
+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 90
+ turn right exactly 60 degrees
+ wait 500 ms
+
Behaviour StayInFieldR
take control: Light on right
action:
- turn left 90
+ turn left exactly 60 degrees
+ wait 500 ms
+
Behaviour StayInFieldB
take control: Distance dangerous at back
action:
- wait 750 ms
-Behaviour Measure
- take control: Color is Green
+ 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:
- measure
-Mission stayinfield using Wander Measure StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file
+ 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
\ No newline at end of file