added parking

diff --git a/dsl/runtime/specs/wander.tdsl b/dsl/runtime/specs/wander.tdsl
index bcf2f3b..1dc70fd 100644 (file)
--- 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