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 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)
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