<!DOCTYPE aseba-playground>
<aseba-playground>
	<author name="Stéphane Magnenat" email="stephane at magnenat dot net" />
	
	<description lang="en">A multi-robot programming puzzle used by first year course at University of Fribourg (Switzerland).</description>
	<description lang="fr">Un puzzle de programmation multi-robots utilisé dans un cours de première année à l'Université de Fribourg (Suisse).</description>
	
	<color name="wall" r="0.9" g="0.9" b="0.9" />
	<color name="red" r="0.77" g="0.2" b="0.15" />
	<color name="green" r="0" g="0." b="0.17" />
	<color name="blue" r="0" g="0.38" b="0.61" />
	
	<world w="110.4" h="110.4" color="wall" energyScoringSystemEnabled="true"/>
	
	<wall x="32.8" y="55.2" l1="1.6" l2="46.4" h="10" color="wall" />
	<wall x="77.6" y="55.2" l1="1.6" l2="46.4" h="10" color="wall" />
	<wall x="55.2" y="78.4" l1="46.4" l2="1.6" h="10" color="wall" />
	<wall x="55.2" y="49.6" l1="24" l2="35.2" h="10" color="wall" />
	
	<feeder x="16" y="94"/>
	
	<area name="left">
		<point x="0" y="-4.8" />
		<point x="4.8" y="-2.4" />
		<point x="4.8" y="2.4" />
		<point x="0" y="4.8" />
	</area>
	
	<area name="right">
		<point x="0" y="4.8" />
		<point x="-4.8" y="2.4" />
		<point x="-4.8" y="-2.4" />
		<point x="0" y="-4.8" />
	</area>
	
	<area name="center">
		<point x="1" y="-16.8" />
		<point x="10.6" y="-16.8" />
		<point x="10.6" y="16.8" />
		<point x="1" y="16.8" />
	</area>
	
	<door closedX="38.4" closedY="33.6" openedX="48.2" openedY="33.6" l1="9.7" l2="1.6" h="9" moveDuration = "1" name="entrance" color="blue"/>
	<door closedX="72" closedY="33.6" openedX="62.4" openedY="33.6" l1="9.6" l2="1.6" h="9" moveDuration = "3" name="exit" color="wall"/>
	
	<activation x="0" y="55.2" l1="1.6" l2="3.2" area="left" door="entrance" />
	<activation x="110.4" y="55.2" l1="1.6" l2="3.2" area="right" door="entrance" />
	<activation x="66.2" y="49.6" l1="1.6" l2="1.6" area="center" door="exit" />
	
	<robot type="e-puck" x="15" y="30" port="33334" name="E-Puck A" nodeId="1" />
	<robot type="e-puck" x="15" y="40" port="33335" name="E-Puck B" nodeId="2" />
	<robot type="e-puck" x="20" y="30" port="33336" name="E-Puck C" nodeId="3" />
	<robot type="e-puck" x="20" y="40" port="33337" name="E-Puck D" nodeId="4" />
	
	<process command=":asebaswitch -n unifr.playground -v tcp:localhost;33334 tcp:localhost;33335 tcp:localhost;33336 tcp:localhost;33337" />
</aseba-playground>
