bt working, different behaviours

[des2015.git] / dsl / xtend / src / robots / missions / TaskDSL.xtext

diff --git a/dsl/xtend/src/robots/missions/TaskDSL.xtext b/dsl/xtend/src/robots/missions/TaskDSL.xtext
index 1dd8afd..65351f9 100644 (file)
--- a/dsl/xtend/src/robots/missions/TaskDSL.xtext
+++ b/dsl/xtend/src/robots/missions/TaskDSL.xtext
@@ -28,12 +28,13 @@ Behaviour: 'Behaviour' name=ID
        'action:' actions+=Action+;
 
 Action:
-       whichMotor=LeftRight 'motor' dir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+       whichMotor=LeftRight 'motor' moveDir=Direction ('with speed' spd=INT 'acceleration' acc=INT)? |
+       'turn' turnDir=LeftRight degrees=INT ('with speed' spd=INT 'acceleration' acc=INT)? |
        'measure' measureWhat=RockLake |
        'wait' time=Time;
 
 Time: time=INT 'ms' | {Time} 'forever';
-
+ 
 RockLake: d=RockLakeE;
 enum RockLakeE: ROCK='rock' | LAKE='lake';
 Direction: d=DirectionE;