final commit

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

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 30081c8..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
-       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
@@ -61,26 +61,30 @@ Behaviour MeasureRock
        action:
                measure Rock
                set flag Measured
-                               
-Behaviour PushL
+       
+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
-               /*wait 500 ms
+                               
+Behaviour PushL
+       take control: Touched on left
+       action:
                right motor forward
-               left motor forward
-               wait 500ms*/
+               left motor forward with speed 50 acceleration 1000
                
 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*/
+               right motor forward with speed 50 acceleration 1000
 
 Behaviour PushB
        take control: (&& Touched on left Touched on right)
@@ -88,20 +92,71 @@ Behaviour PushB
                set flag Pushing
                left motor forward
                right motor forward
-               wait 10000 ms
+               wait forever
 
 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
                
-/*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
+               
 Mission FindAndMeasureRocks
-       using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
-       and stops when flag set Measured */
+       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
\ No newline at end of file
+       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 StayInFieldB FoundParkingSpace
+       and stops when flag set Parked
\ No newline at end of file