-//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 measureLakes
- using Drive 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
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+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
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