+
+Behaviour MeasureRock
+ take control: (&& Distance dangerous at front not flag set RockMeasured)
+ action:
+ measure Rock
+ set flag RockMeasured
+
+Behaviour FindParkingL
+ take control: Light on left
+ action:
+ turn left exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingR
+ take control: Light on right
+ action:
+ turn right exactly 10 degrees with speed 20 acceleration 1000
+
+Behaviour FindParkingSpace
+ take control: (&& Light on right Light on left)
+ action:
+ right motor backward with speed 80 acceleration 1000
+ left motor backward with speed 80 acceleration 1000
+ wait 1000 ms
+ turn right exactly 180 degrees
+ set flag Parked
+