//--------    FILE: alpha.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false

//----------------------------------------------
Behavior = BHV_Waypoint
{
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  endflag   = RETURN = true

  updates    = WPT_UPDATE
  perpetual  = true
//  templating = clone

                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 5   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 5.0
	efficiency_measure = all

// Lawnmower pattern 
  points = format=lawnmower,label=SP2017,x=20,y=-70,height=30,width=50,lane_width=15,rows=north-south,degs=335
  visual_hints = vertex_color=yellow, edge_color=gray25
  
//	ipf_type = roc

    visual_hints = nextpt_color=yellow
    visual_hints = nextpt_vertex_size=8
    visual_hints = nextpt_lcolor=gray70
    visual_hints = vertex_color=dodger_blue, edge_color=white
    visual_hints = vertex_size=5, edge_size=1
}

//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = RETURN = true
  condition  = DEPLOY = true
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,-10
 }

//----------------------------------------------
Behavior=BHV_ConstantSpeed
{
  name       = const_speed
  pwt        = 200
  condition  = SPD=true
  condition  = DEPLOY = true
  perpetual  = true
  updates    = SPEED_UPDATE
  endflag    = SPD = false

     speed = 0.5
		 duration = 10
		 duration_reset = CONST_SPD_RESET=true

}

	// uPokeDB alpha.moos SPEED_UPDATE=speed=0.7#duration=20
	// uPokeDB alpha.moos RETURN_UPDATE=slip_radius=7