X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=30081c8f8258f0df19c180cd0b1d1296278893b9;hb=ac44621696b120a5aec35edff6b7181a4aafa383;hp=5100e52dab7a780058291b526f0e3787bc75c5ce;hpb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 5100e52..30081c8 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,33 +1,107 @@
 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:
-		right motor backward with speed 250 acceleration 10000
-		left motor forward with speed 250 acceleration 10000
-		wait 750 ms
+		turn right exactly 60 degrees
+		wait 500 ms
+		
 Behaviour StayInFieldR
 	take control: Light on right
 	action:
-		right motor forward with speed 250 acceleration 10000
-		left motor backward with speed 250 acceleration 10000
-		wait 750 ms
+		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 GreenLake
+	take control: (&& Color is Green not flag set GreenMeasured)
+	action:
+		measure Lake
+		set flag GreenLake
+		
+Behaviour BlueLake
+	take control: (&& Color is Blue not flag set BlueMeasured)
+	action:
+		measure Lake
+		set flag BlueLake
+		
+Behaviour RedLake
+	take control: (&& Color is Red not flag set RedMeasured)
+	action:
+		measure Lake
+		set flag RedLake
+		
+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
+		right motor forward
+		left motor forward
+		wait 500ms*/
+		
+Behaviour PushR
+	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 PushB
+	take control: (&& Touched on left Touched on right)
+	action:
+		set flag Pushing
+		left motor forward
+		right motor forward
+		wait 10000 ms
+
+Behaviour StopPushing
+	take control: (&& not Touched on left not Touched on right flag set Pushing)
+	action:
+		set flag Pushed
+		
+/*Mission FindAndMeasureLakes
+	using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
+	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
+
+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