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final commit
[des2015.git]
/
dsl
/
runtime
/
specs
/
wander.tdsl
diff --git
a/dsl/runtime/specs/wander.tdsl
b/dsl/runtime/specs/wander.tdsl
index
1dc70fd
..
f7e3697
100644
(file)
--- a/
dsl/runtime/specs/wander.tdsl
+++ b/
dsl/runtime/specs/wander.tdsl
@@
-39,19
+39,19
@@
Behaviour StayInFieldB
wait 1000 ms
Behaviour GreenLake
wait 1000 ms
Behaviour GreenLake
- take control: (&&
Color is Green not flag set GreenMeasured
)
+ take control: (&&
(|| Color is Green Color is Yellow) not flag set GreenLake
)
action:
measure Lake
set flag GreenLake
Behaviour BlueLake
action:
measure Lake
set flag GreenLake
Behaviour BlueLake
- take control: (&& Color is Blue not flag set Blue
Measured
)
+ take control: (&& Color is Blue not flag set Blue
Lake
)
action:
measure Lake
set flag BlueLake
Behaviour RedLake
action:
measure Lake
set flag BlueLake
Behaviour RedLake
- take control: (&& Color is Red not flag set Red
Measured
)
+ take control: (&& Color is Red not flag set Red
Lake
)
action:
measure Lake
set flag RedLake
action:
measure Lake
set flag RedLake
@@
-61,18
+61,30
@@
Behaviour MeasureRock
action:
measure Rock
set flag 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
Behaviour PushL
take control: Touched on left
action:
right motor forward
- left motor
backward
+ left motor
forward with speed 50 acceleration 1000
Behaviour PushR
take control: Touched on right
action:
left motor forward
Behaviour PushR
take control: Touched on right
action:
left motor forward
- right motor
backward
+ right motor
forward with speed 50 acceleration 1000
Behaviour PushB
take control: (&& Touched on left Touched on right)
Behaviour PushB
take control: (&& Touched on left Touched on right)
@@
-85,23
+97,33
@@
Behaviour PushB
Behaviour StopPushing
take control: (&& not Touched on left not Touched on right flag set Pushing)
action:
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
set flag Pushed
Behaviour FoundLineL
- take control:
Light on left
+ take control:
(&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
action:
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
set flag LeftLine
Behaviour FoundLineR
- take control:
Light on right
+ take control:
(&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
action:
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
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
5
0 acceleration 1000
+ right motor backward with speed
6
0 acceleration 1000
Behaviour FollowLBad
take control: (&& flag set LeftLine not Light on left)
Behaviour FollowLBad
take control: (&& flag set LeftLine not Light on left)
@@
-113,7
+135,7
@@
Behaviour FollowRGood
take control: (&& flag set RightLine Light on right)
action:
right motor forward with speed 75 acceleration 1000
take control: (&& flag set RightLine Light on right)
action:
right motor forward with speed 75 acceleration 1000
- left motor backward with speed
5
0 acceleration 1000
+ left motor backward with speed
6
0 acceleration 1000
Behaviour FollowRBad
take control: (&& flag set RightLine not Light on right)
Behaviour FollowRBad
take control: (&& flag set RightLine not Light on right)
@@
-122,20
+144,19
@@
Behaviour FollowRBad
left motor forward with speed 100 acceleration 1000
Behaviour FoundParkingSpace
left motor forward with speed 100 acceleration 1000
Behaviour FoundParkingSpace
- take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
// (|| Light on left Light on right))
+ take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
action:
set flag Parked
action:
set flag Parked
- /*
-Mission FindAndMeasureLakes
- using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
- and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
Mission FindAndMeasureRocks
Mission FindAndMeasureRocks
- using
Wander StayInFieldR StayInFieldL StayInFieldB
MeasureRock
+ using
Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR
MeasureRock
and stops when flag set Measured
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
Mission PushRocks
- using
Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
- and stops when flag set Pushed
*/
+ using
Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
+ and stops when flag set Pushed
Mission Park
Mission Park
- using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood FoundParkingSpace
+ using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood
StayInFieldB
FoundParkingSpace
and stops when flag set Parked
\ No newline at end of file
and stops when flag set Parked
\ No newline at end of file