added gracefull shutdown

[des2015.git] / dsl / runtime / specs / wander.tdsl

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index a51a064..30081c8 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,29 +1,107 @@
 Acceleration 1000
-Speed 250
-Behaviour Wander
+Speed 150
+
+Behaviour Drive
        take control:
        action:
                left motor forward
                right motor forward
                wait forever
-
-Behaviour StayInFieldBoth
-       take control: (&& Light on left Light on right)
+               
+Behaviour Wander
+       take control:
        action:
-               left motor backward with speed 1000 acceleration 10000
-               right motor backward with speed 250 acceleration 10000
-               wait 1000 ms
+               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 with speed 100 acceleration 10000
+               turn right exactly 60 degrees
+               wait 500 ms
+               
 Behaviour StayInFieldR
        take control: Light on right
        action:
-               turn left 90 with speed 100 acceleration 10000
+               turn left exactly 60 degrees
+               wait 500 ms
+               
 Behaviour StayInFieldB
        take control: Distance dangerous at back
        action:
-               wait 750 ms
-        
-Mission stayinfield using Wander StayInFieldL StayInFieldR StayInFieldB StayInFieldBoth and stops when Color is Cyan
\ No newline at end of file
+               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:
+               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