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
- take control: (&& Color is Blue not flag set BlueMeasured)
+ take control: (&& Color is Blue not flag set BlueLake)
action:
measure Lake
set flag BlueLake
Behaviour RedLake
- take control: (&& Color is Red not flag set RedMeasured)
+ take control: (&& Color is Red not flag set RedLake)
action:
measure Lake
set flag RedLake
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
- left motor backward
+ left motor forward with speed 50 acceleration 1000
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 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
- 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:
+ 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: Light on right
+ 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 50 acceleration 1000
+ right motor backward with speed 60 acceleration 1000
Behaviour FollowLBad
take control: (&& flag set LeftLine not Light on left)
take control: (&& flag set RightLine Light on right)
action:
right motor forward with speed 75 acceleration 1000
- left motor backward with speed 50 acceleration 1000
+ left motor backward with speed 60 acceleration 1000
Behaviour FollowRBad
take control: (&& flag set RightLine not Light on right)
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
- /*
-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
+ 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 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
- 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