X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=0f764d38ec67c293c95ba31d2b8faa1b32d73790;hb=49495a0fe049791c0f45de4ac2177d45ca373265;hp=be30d5adc314267f53997fef02b58d833fafd84b;hpb=1b13ccb59263b66abc763fb8f298b14bdebc9582;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index be30d5a..0f764d3 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,6 +1,12 @@
 Acceleration 1000
 Speed 150
 
+Behaviour Drive
+	take control:
+	action:
+		left motor forward
+		right motor forward
+		wait forever
 Behaviour Wander
 	take control:
 	action:
@@ -31,10 +37,48 @@ Behaviour StayInFieldB
 		right motor forward
 		wait 1000 ms
 		
-Behaviour MeasureLake
-	take control: (|| Color is Green Color is Blue Color is Red)
+Behaviour MeasureGreenLake
+	take control: (&& Color is Green not flag set GreenMeasured)
+	action:
+		measure Lake
+		set flag GreenMeasured
+Behaviour MeasureBlueLake
+	take control: (&& Color is Blue not flag set BlueMeasured)
+	action:
+		measure Lake
+		set flag BlueMeasured
+Behaviour MeasureRedLake
+	take control: (&& Color is Red not flag set RedMeasured)
 	action:
-		measure
+		measure Lake
+		set flag RedMeasured
+		
+Behaviour LocateL
+	take control: Touched on left
+	action:
+		right motor forward
+		left motor backward
+		wait 500 ms
+		right motor forward
+		left motor forward
+		wait 1000 ms
+		
+Behaviour LocateR
+	take control: Touched on right
+	action:
+		left motor forward
+		right motor backward
+		wait 500 ms
+		right motor forward
+		left motor forward
+		wait 1000 ms
+
+Behaviour Push
+	take control: (&& Touched on left Touched on right)
+	action:
+		left motor forward
+		right motor forward
+		wait 1000 ms
 		
 Behaviour BumpL
 	take control: Touched on left
@@ -49,10 +93,50 @@ Behaviour BumpR
 		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
+
+Behaviour AvoidHigh
+	take control: Distance dangerous at front
+	action: 
+		turn randomly 10 to 11 degrees
+
+Behaviour MeasureRock
+	take control: (&& Distance dangerous at front not flag set RockMeasured)
+	action:
+		measure Rock
+		set flag RockMeasured
+
+Behaviour FindParkingL
+	take control: Light on left
+	action:
+		turn left exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingR
+	take control: Light on right
+	action:
+		turn right exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingSpace
+	take control: (&& Light on right Light on left)
+	action:
+		right motor backward with speed 80 acceleration 1000
+		left motor backward with speed 80 acceleration 1000
+		wait 1000 ms
+		turn right exactly 180 degrees
+		set flag Parked
+
+//Mission pushRock
+//	using Drive LocateR LocateL Push StayInFieldB StayInFieldL StayInFieldR and stops when Never
+//Mission avoidHighRocks
+//	using Drive AvoidHigh BumpR BumpL StayInFieldB StayInFieldL StayInFieldR and stops when Never
+Mission MeasureRocks
+	using Drive StayInFieldB StayInFieldL StayInFieldR MeasureRock and stops when flag set RockMeasured
+Mission FindParkingSpaceInTheCorner
+	using Wander StayInFieldB FindParkingL FindParkingR FindParkingSpace and stops when flag set Parked
+//Mission measureLakes
+//	using Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
+//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 Wander StayInFieldB StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file