X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=f7e369763915da373d8fec579292f7a16aad6f28;hb=HEAD;hp=1dc70fdf6554a624d889131c00954058c653bfba;hpb=0e906d3d29d1ea5acfdb8f737fd21b04cc00e934;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 1dc70fd..f7e3697 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -39,19 +39,19 @@ Behaviour StayInFieldB
 		wait 1000 ms
 		
 Behaviour GreenLake
-	take control: (&& Color is Green not flag set GreenMeasured)
+	take control: (&& (|| Color is Green Color is Yellow) not flag set GreenLake)
 	action:
 		measure Lake
 		set flag GreenLake
 		
 Behaviour BlueLake
-	take control: (&& Color is Blue not flag set BlueMeasured)
+	take control: (&& Color is Blue not flag set BlueLake)
 	action:
 		measure Lake
 		set flag BlueLake
 		
 Behaviour RedLake
-	take control: (&& Color is Red not flag set RedMeasured)
+	take control: (&& Color is Red not flag set RedLake)
 	action:
 		measure Lake
 		set flag RedLake
@@ -61,18 +61,30 @@ Behaviour MeasureRock
 	action:
 		measure Rock
 		set flag Measured
+	
+Behaviour AvoidL
+	take control: Touched on left
+	action:
+		left motor forward
+		right motor backward
+		
+Behaviour AvoidR
+	take control: Touched on right
+	action:
+		right motor forward
+		left motor backward
 				
 Behaviour PushL
 	take control: Touched on left
 	action:
 		right motor forward
-		left motor backward
+		left motor forward with speed 50 acceleration 1000
 		
 Behaviour PushR
 	take control: Touched on right
 	action:
 		left motor forward
-		right motor backward
+		right motor forward with speed 50 acceleration 1000
 
 Behaviour PushB
 	take control: (&& Touched on left Touched on right)
@@ -85,23 +97,33 @@ Behaviour PushB
 Behaviour StopPushing
 	take control: (&& not Touched on left not Touched on right flag set Pushing)
 	action:
+		left motor backward
+		right motor backward
+		wait 1000ms
+		turn left exactly 180 degrees
 		set flag Pushed
 		
 Behaviour FoundLineL
-	take control: Light on left
+	take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on left not Light on right Color is Black)
 	action:
+		left motor backward with speed 75 acceleration 1000
+		right motor backward with speed 75 acceleration 1000
+		wait 1000 ms
 		set flag LeftLine
 
 Behaviour FoundLineR
-	take control: Light on right
+	take control: (&& (|| not flag set LeftLine not flag set RightLine) Light on right not Light on left Color is Black)
 	action:
+		left motor backward with speed 75 acceleration 1000
+		right motor backward with speed 75 acceleration 1000
+		wait 1000 ms
 		set flag RightLine
 		
 Behaviour FollowLGood
 	take control: (&& flag set LeftLine Light on left)
 	action:
 		left motor forward with speed 75 acceleration 1000
-		right motor backward with speed 50 acceleration 1000
+		right motor backward with speed 60 acceleration 1000
 
 Behaviour FollowLBad
 	take control: (&& flag set LeftLine not Light on left)
@@ -113,7 +135,7 @@ Behaviour FollowRGood
 	take control: (&& flag set RightLine Light on right)
 	action:
 		right motor forward with speed 75 acceleration 1000
-		left motor backward with speed 50 acceleration 1000
+		left motor backward with speed 60 acceleration 1000
 
 Behaviour FollowRBad
 	take control: (&& flag set RightLine not Light on right)
@@ -122,20 +144,19 @@ Behaviour FollowRBad
 		left motor forward with speed 100 acceleration 1000
 		
 Behaviour FoundParkingSpace
-	take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)// (|| Light on left Light on right))
+	take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
 	action:
 		set flag Parked
 		
-		/*
-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
+	using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR MeasureRock
 	and stops when flag set Measured
+Mission FindAndMeasureLakes
+	using Drive StayInFieldR StayInFieldL StayInFieldB AvoidL AvoidR GreenLake RedLake BlueLake 
+	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
 Mission PushRocks
-	using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
-	and stops when flag set Pushed*/
+	using Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
+	and stops when flag set Pushed
 Mission Park
-	using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood FoundParkingSpace
+	using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
 	and stops when flag set Parked
\ No newline at end of file