From 0e906d3d29d1ea5acfdb8f737fd21b04cc00e934 Mon Sep 17 00:00:00 2001
From: Mart Lubbers <mart@martlubbers.net>
Date: Tue, 12 Jan 2016 12:15:51 +0100
Subject: [PATCH] added parking

---
 dsl/runtime/specs/wander.tdsl | 45 ++++++++++++++++++++++++++++++++++-
 1 file changed, 44 insertions(+), 1 deletion(-)

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index bcf2f3b..1dc70fd 100644
--- a/dsl/runtime/specs/wander.tdsl
+++ b/dsl/runtime/specs/wander.tdsl
@@ -87,6 +87,46 @@ Behaviour StopPushing
 	action:
 		set flag Pushed
 		
+Behaviour FoundLineL
+	take control: Light on left
+	action:
+		set flag LeftLine
+
+Behaviour FoundLineR
+	take control: Light on right
+	action:
+		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
+
+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 50 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)// (|| Light on left Light on right))
+	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)
@@ -95,4 +135,7 @@ Mission FindAndMeasureRocks
 	and stops when flag set Measured
 Mission PushRocks
 	using Wander PushL PushR PushB StopPushing StayInFieldR StayInFieldL StayInFieldB
-	and stops when flag set Pushed
\ No newline at end of file
+	and stops when flag set Pushed*/
+Mission Park
+	using Drive FoundLineL FoundLineR FollowLBad FollowLGood FollowRBad FollowRGood FoundParkingSpace
+	and stops when flag set Parked
\ No newline at end of file
-- 
2.20.1