X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=0f764d38ec67c293c95ba31d2b8faa1b32d73790;hb=e16db9e5dda67e0d25aff8a89f287e6fd5afdf4c;hp=04b78a09f706f0f293fa152c4b1dc3e2a074969c;hpb=844ff9a744d2c253bd5b76475a84370435329405;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 04b78a0..0f764d3 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -98,13 +98,42 @@ 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 measureLakes
-	using Drive Drive MeasureRedLake MeasureGreenLake MeasureBlueLake and stops when (&& flag set GreenMeasured flag set BlueMeasured flag set RedMeasured)
+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