X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=7bc0ef5acdf5186a27bc1c59f8a8b008ff5cd260;hb=3a12cfb82749c7ca2cec2d31da1b4d62ffe9e7e2;hp=5100e52dab7a780058291b526f0e3787bc75c5ce;hpb=08b6c73b2092b16b5dc1c0f2884d2e9c49c445af;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 5100e52..7bc0ef5 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -1,33 +1,25 @@
 Acceleration 1000
-Speed 250
+Speed 150
 Behaviour Wander
 	take control:
 	action:
 		left motor forward
 		right motor forward
 		wait forever
-
-Behaviour StayInFieldBoth
-	take control: (&& Light on left Light on right)
-	action:
-		left motor backward with speed 1000 acceleration 10000
-		right motor backward with speed 250 acceleration 10000
-		wait 1000 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 90
 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 90
 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
+Behaviour Measure
+	take control: Color is Green
+	action:
+		measure
+Mission stayinfield using Wander Measure StayInFieldL StayInFieldR and stops when Color is Cyan
\ No newline at end of file