// Feature: mission duration declaration
//
//   spanda check examples/features/mission_duration.sd
//   spanda run examples/features/mission_duration.sd

robot MissionRover {
  sensor lidar: Lidar on "/scan";
  actuator wheels: DifferentialDrive;

  safety {
    max_speed = 0.8 m/s;
  }

  mission { duration: 30 min; }

  behavior patrol() {
    loop every 100ms {
      let scan = lidar.read();
      let _ = scan;
      wheels.drive(linear: 0.2 m/s, angular: 0.0 rad/s);
    }
  }
}
