X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=dsl%2Fruntime%2Fspecs%2Fwander.tdsl;h=f7e369763915da373d8fec579292f7a16aad6f28;hb=HEAD;hp=bcf2f3bac4f4e7628426eca72830f41b1be89ecf;hpb=8ac11d4775c780e307727b0e5dc865cf64517a59;p=des2015.git

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index bcf2f3b..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)
@@ -85,14 +97,66 @@ 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
 		
-Mission FindAndMeasureLakes
-	using Wander StayInFieldR StayInFieldL StayInFieldB GreenLake RedLake BlueLake 
-	and stops when (&& flag set GreenLake flag set RedLake flag set BlueLake)
+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 FollowLGood
+	take control: (&& flag set LeftLine Light on left)
+	action:
+		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 FollowRGood
+	take control: (&& flag set RightLine Light on right)
+	action:
+		right motor forward with speed 75 acceleration 1000
+		left motor backward with speed 60 acceleration 1000
+
+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 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
\ No newline at end of file
+	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