+ 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)