PlexilPlans/PositionTracking.ple at master · ECI-Robotics/PlexilPlans · GitHub

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Date Lookup time;

Integer Lookup PositionChanged;

//Set front wheels angle [-30..30]
Command TurnFrontWheels(Integer);

//Set rear wheels angle [-30..30]
Command TurnRearWheels(Integer);

//Move forward with a given power level [0..100]
Command MoveForward(Integer);

//Move backwards with a given power level [0..100]
Command MoveBackward(Integer);

//Stop
Command StopEngine();

Command pprint(...);

CommandsTest:{

    Real pi=0;
    Real ct=0;

    Date startime;
    Boolean oneMeter=false;

    Duration maxtime = Duration ("PT5.0S");
    Duration tolerance = Duration ("PT0.01S");

    Sequence{

        Setup:{
            startime=Lookup(time,tolerance);
            pprint("PLAN SETUP AT",startime);

        }


        Concurrence{
            XX:{
                StartCondition (Lookup(PositionChanged)==1);
                pprint(">>>>>>>>>>>>>");
            }

        }


    }


}