X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=f7e369763915da373d8fec579292f7a16aad6f28;hb=HEAD;hp=5b9c1a08706e52f4ec9bfb85e8869360d3004749;hpb=095cdf6fc0cbad75c6057a401cbab23c18931a3d;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index 5b9c1a0..f7e3697 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:
@@ -37,66 +38,125 @@ Behaviour StayInFieldB
 		right motor forward
 		wait 1000 ms
 		
-Behaviour MeasureLake
-	take control: (|| Color is Green Color is Blue Color is Red)
+Behaviour GreenLake
+	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 BlueLake)
 	action:
 		measure Lake
+		set flag BlueLake
 		
-Behaviour LocateL
+Behaviour RedLake
+	take control: (&& Color is Red not flag set RedLake)
+	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 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
-		wait 500 ms
+				
+Behaviour PushL
+	take control: Touched on left
+	action:
 		right motor forward
-		left motor forward
-		wait 1000 ms
+		left motor forward with speed 50 acceleration 1000
 		
-Behaviour LocateR
+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
+		right motor forward with speed 50 acceleration 1000
 
-Behaviour Push
+Behaviour PushB
 	take control: (&& Touched on left Touched on right)
 	action:
+		set flag Pushing
 		left motor forward
 		right motor forward
+		wait forever
+
+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: (&& (|| 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: (&& (|| 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 BumpL
-	take control: Touched on left
+Behaviour FollowLGood
+	take control: (&& flag set LeftLine Light on left)
 	action:
-		left motor backward with speed 50 acceleration 1000
-		right motor backward
-		wait 2000 ms
+		left motor forward with speed 75 acceleration 1000
+		right motor backward with speed 60 acceleration 1000
+
+Behaviour FollowLBad
+	take control: (&& flag set LeftLine not Light on left)
+	action:
+		left motor forward  with speed 75 acceleration 1000
+		right motor forward with speed 100 acceleration 1000
 		
-Behaviour BumpR
-	take control: Touched on right
+Behaviour FollowRGood
+	take control: (&& flag set RightLine Light on right)
 	action:
-		right motor backward with speed 50 acceleration 1000
-		left motor backward
-		wait 2000 ms
+		right motor forward with speed 75 acceleration 1000
+		left motor backward with speed 60 acceleration 1000
 
-Behaviour AvoidHigh
-	take control: Distance dangerous at front
-	action: 
-		turn randomly 10 to 11 degrees
+Behaviour FollowRBad
+	take control: (&& flag set RightLine not Light on right)
+	action:
+		right motor forward  with speed 75 acceleration 1000
+		left motor forward with speed 100 acceleration 1000
+		
+Behaviour FoundParkingSpace
+	take control: (&& (|| flag set LeftLine flag set RightLine) Color is White)
+	action:
+		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 measureLake
-//	using Drive MeasureLake and stops when Never
-//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 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 Drive PushL PushR PushB StayInFieldR StayInFieldL StayInFieldB StopPushing
+	and stops when flag set Pushed
+Mission Park
+	using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood StayInFieldB FoundParkingSpace
+	and stops when flag set Parked
\ No newline at end of file