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 Color is Yellow) not flag set GreenLake)
+ action:
+ measure Lake
+ set flag GreenLake
+
+Behaviour BlueLake
+ 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 RedLake)
+ 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 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 forward with speed 50 acceleration 1000
+
+Behaviour PushR
+ take control: Touched on right
+ action:
+ left motor forward
+ right motor forward with speed 50 acceleration 1000
+
+Behaviour PushB
+ take control: (&& Touched on left Touched on right)
+ action:
+ set flag Pushing
+ left motor forward
+ right motor forward
+ 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
+
+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 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 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
repositories / des2015.git / blobdiff