X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=30081c8f8258f0df19c180cd0b1d1296278893b9;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=04b78a09f706f0f293fa152c4b1dc3e2a074969c;hpb=844ff9a744d2c253bd5b76475a84370435329405;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 04b78a0..30081c8 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -7,6 +7,7 @@ Behaviour Drive
 		left motor forward
 		right motor forward
 		wait forever
+		
 Behaviour Wander
 	take control:
 	action:
@@ -37,77 +38,70 @@ Behaviour StayInFieldB
 		right motor forward
 		wait 1000 ms
 		
-Behaviour MeasureGreenLake
+Behaviour GreenLake
 	take control: (&& Color is Green not flag set GreenMeasured)
 	action:
 		measure Lake
-		set flag GreenMeasured
-Behaviour MeasureBlueLake
+		set flag GreenLake
+		
+Behaviour BlueLake
 	take control: (&& Color is Blue not flag set BlueMeasured)
 	action:
 		measure Lake
-		set flag BlueMeasured
-Behaviour MeasureRedLake
+		set flag BlueLake
+		
+Behaviour RedLake
 	take control: (&& Color is Red not flag set RedMeasured)
 	action:
 		measure Lake
-		set flag RedMeasured
+		set flag RedLake
 		
-Behaviour LocateL
+Behaviour MeasureRock
+	take control: (&& Distance dangerous at front not flag set Measured)
+	action:
+		measure Rock
+		set flag Measured
+				
+Behaviour PushL
 	take control: Touched on left
 	action:
 		right motor forward
 		left motor backward
-		wait 500 ms
+		/*wait 500 ms
 		right motor forward
 		left motor forward
-		wait 1000 ms
+		wait 500ms*/
 		
-Behaviour LocateR
+Behaviour PushR
 	take control: Touched on right
 	action:
 		left motor forward
 		right motor backward
-		wait 500 ms
+		/*wait 500 ms
 		right motor forward
 		left motor forward
-		wait 1000 ms
+		wait 1000 ms*/
 
-Behaviour Push
+Behaviour PushB
 	take control: (&& Touched on left Touched on right)
 	action:
+		set flag Pushing
 		left motor forward
 		right motor forward
-		wait 1000 ms
-		
-Behaviour BumpL
-	take control: Touched on left
+		wait 10000 ms
+
+Behaviour StopPushing
+	take control: (&& not Touched on left not Touched on right flag set Pushing)
 	action:
-		left motor backward with speed 50 acceleration 1000
-		right motor backward
-		wait 2000 ms
+		set flag Pushed
 		
-Behaviour BumpR
-	take control: Touched on right
-	action:
-		right motor backward with speed 50 acceleration 1000
-		left motor backward
-		wait 2000 ms
+/*Mission FindAndMeasureLakes
+	using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
+	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 
-Behaviour AvoidHigh
-	take control: Distance dangerous at front
-	action: 
-		turn randomly 10 to 11 degrees
-		
-//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 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
+Mission FindAndMeasureRocks
+	using Wander StayInFieldR StayInFieldL StayInFieldB MeasureRock
+	and stops when flag set Measured */
+Mission PushRocks
+	using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
+	and stops when flag set Pushed
\ No newline at end of file