update code

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

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 80cd169..be30d5a 100644 (file)
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,25 +1,58 @@
 Acceleration 1000
 Speed 150
+
 Behaviour Wander
        take control:
        action:
                left motor forward
                right motor forward
-               wait forever
+               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
+               turn right exactly 60 degrees
+               wait 500 ms
+               
 Behaviour StayInFieldR
        take control: Light on right
        action:
-               turn left 90
+               turn left exactly 60 degrees
+               wait 500 ms
+               
 Behaviour StayInFieldB
        take control: Distance dangerous at back
        action:
-               wait 750 ms
-Behaviour Measure
-       take control: Color is Green
+               left motor forward
+               right motor forward
+               wait 1000 ms
+               
+Behaviour MeasureLake
+       take control: (|| Color is Green Color is Blue Color is Red)
        action:
                measure
-Mission stayinfield using Wander Measure StayInFieldL StayInFieldR and stops when Color is Blue
\ No newline at end of file
+               
+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
+               
+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 StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file