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

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
Date Lookup time;

//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);

//apply one drop
Command OpenSprinkler();

//Stop
Command Stop();

Command pprint(...);

//*** Available Lookup Status Variables
//Heading
//StartRequested
//AbortRequested
//LeftSonarMeasuredDistance
//RightSonarMeasuredDistance
//CenterSonarMeasuredDistance


EmptyPlan:
{
    Duration delay2 = Duration ("PT5S");
    Duration tolerance = Duration ("PT0.1S");

    Sequence{
        TurnFrontWheels(-30);
        Wait (delay2), tolerance;
        TurnFrontWheels(-15);
        Wait (delay2), tolerance;
        TurnFrontWheels(0);
        Wait (delay2), tolerance;
        TurnFrontWheels(15);
        Wait (delay2), tolerance;
        TurnFrontWheels(30);
        Wait (delay2), tolerance;
        TurnFrontWheels(0);

        TurnRearWheels(-30);
        Wait (delay2), tolerance;
        TurnRearWheels(-15);
        Wait (delay2), tolerance;
        TurnRearWheels(0);
        Wait (delay2), tolerance;
        TurnRearWheels(15);
        Wait (delay2), tolerance;
        TurnRearWheels(30);
        Wait (delay2), tolerance;
        TurnRearWheels(0);


    }


}