X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;fp=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=be30d5adc314267f53997fef02b58d833fafd84b;hb=1b13ccb59263b66abc763fb8f298b14bdebc9582;hp=80cd16915b8953ec0abe97f5757495ea56107e41;hpb=9fa82649c6bc8e21f6ecfeb95c8c15db7c8f8352;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 80cd169..be30d5a 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,25 +1,58 @@
 Acceleration 1000
 Speed 150
+
 Behaviour Wander
 	take control:
 	action:
 		left motor forward
 		right motor forward
-		wait forever
+		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
+		turn right exactly 60 degrees
+		wait 500 ms
+		
 Behaviour StayInFieldR
 	take control: Light on right
 	action:
-		turn left 90
+		turn left exactly 60 degrees
+		wait 500 ms
+		
 Behaviour StayInFieldB
 	take control: Distance dangerous at back
 	action:
-		wait 750 ms
-Behaviour Measure
-	take control: Color is Green
+		left motor forward
+		right motor forward
+		wait 1000 ms
+		
+Behaviour MeasureLake
+	take control: (|| Color is Green Color is Blue Color is Red)
 	action:
 		measure
-Mission stayinfield using Wander Measure StayInFieldL StayInFieldR and stops when Color is Blue
\ No newline at end of file
+		
+Behaviour BumpL
+	take control: Touched on left
+	action:
+		left motor backward with speed 50 acceleration 1000
+		right motor backward
+		wait 2000 ms
+		
+Behaviour BumpR
+	take control: Touched on right
+	action:
+		right motor backward with speed 50 acceleration 1000
+		left motor backward
+		wait 2000 ms
+		
+Mission findBlueLakeWhileAvoidingRocks
+	using Wander BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Color is Blue
+Mission findAllLakesAndMeasureThem
+	using Wander MeasureLake StayInFieldB StayInFieldL StayInFieldR and stops when Collected at least Green Blue Red
+Mission justWander 
+	using Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file