-Mission FindAndMeasureLakes
- using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake
- and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
+Behaviour FoundLineL
+ take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
+ 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
+ take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
+ 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
+ right motor backward with speed 60 acceleration 1000
+
+Behaviour FollowLBad
+ take control: (&& flag set LeftLine not Light on left)
+ action:
+ left motor forward with speed 75 acceleration 1000
+ right motor forward with speed 100 acceleration 1000
+
+Behaviour FollowRGood
+ take control: (&& flag set RightLine Light on right)
+ action:
+ right motor forward with speed 75 acceleration 1000
+ left motor backward with speed 60 acceleration 1000
+
+Behaviour FollowRBad
+ take control: (&& flag set RightLine not Light on right)
+ action:
+ right motor forward with speed 75 acceleration 1000
+ left motor forward with speed 100 acceleration 1000
+
+Behaviour FoundParkingSpace
+ take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
+ action:
+ set flag Parked
+