X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=0f764d38ec67c293c95ba31d2b8faa1b32d73790;hb=8880a95aedaf51c028818910b64f85472d96c14e;hp=a51a0649f44c5593432bf709007f0976a894efa2;hpb=16aef029cf49685c60c422d36b54d459355e832c;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index a51a064..0f764d3 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,29 +1,142 @@
 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 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 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
+	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
+
+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