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

initialize   DEPLOY = false
initialize   RETURNING = false
initialize   OUTBOUND = true
initialize   TURNING = false
initialize   LEFTHAND = $(INITIALLY_LEFTHAND)

// A racetrack, which switches sides after each loop
// publish "endflag=LEFTHAND=true/false" to the MOOSDB during the outbound leg
// to change the side of the return leg

//----------------------------------------------
// Outbound straightaway
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = hold_heading_out
  pwt = 100
  condition = RETURNING = false
  condition = DEPLOY = true
  condition = OUTBOUND = true
  condition = TURNING = false
  activeflag = CONST_SPD_RESET=true

  activeflag = RETURN_DURATION_RESET = true
  duration_reset = OUT_DURATION_RESET = true
  perpetual = true

  updates = TURN_BIAS

  endflag = TURNING = true

  // ConstantHeading specific
  //-------------------------

  duration = $(DUR) // seconds
  heading_mismatch_var = HDG_DIFF_OUT

  heading = $(START_A)
}

//----------------------------------------------
// Inbound straightaway
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = hold_heading_back
  pwt = 100
  condition = RETURNING = false
  condition = DEPLOY = true
  condition = OUTBOUND = false
  condition = TURNING = false
  activeflag = CONST_SPD_RESET=true

  activeflag = OUT_DURATION_RESET = true
  duration_reset = RETURN_DURATION_RESET = true
  perpetual = true

  endflag = TURNING = true

  // ConstantHeading specific
  //-------------------------

  duration = $(DUR) // seconds
  heading_mismatch_var = HDG_DIFF_BACK

  heading = $(RETURN_A)
}

//----------------------------------------------
// Far turn, return leg is right of outward leg
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = turn_far_right
  pwt = 100

  condition = RETURNING = false
  condition = DEPLOY = true
  condition = TURNING = true
  condition = OUTBOUND = true
  condition = LEFTHAND = false

  activeflag = CONST_SPD_RESET=true

  endflag = TURNING = false
  endflag = OUTBOUND = false

  perpetual = true

  // ConstantHeading specific
  //-------------------------
  heading = $(RH_FT_A)

  // complete when 60 degrees turn achieved
  duration = no-time-limit
  complete_thresh = 5 // degrees?
}

//----------------------------------------------
// Far turn, return leg is left of outward leg
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = turn_far_left
  pwt = 100

  condition = RETURNING = false
  condition = DEPLOY = true
  condition = TURNING = true
  condition = OUTBOUND = true
  condition = LEFTHAND = true

  activeflag = CONST_SPD_RESET=true

  endflag = TURNING = false
  endflag = OUTBOUND = false

  perpetual = true

  // ConstantHeading specific
  //-------------------------
  heading = $(LH_FT_A)

  // complete when 60 degrees turn achieved
  duration = no-time-limit
  complete_thresh = 5 // degrees?
}

//----------------------------------------------
// Near turn, return leg is right of outward leg
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = turn_near_right
  pwt = 100

  condition = RETURNING = false
  condition = DEPLOY = true
  condition = TURNING = true
  condition = OUTBOUND = false
  condition = LEFTHAND = false

  activeflag = CONST_SPD_RESET=true

  endflag = TURNING = false
  endflag = OUTBOUND = true
  endflag = LEFTHAND = true

  perpetual = true

  // ConstantHeading specific
  //-------------------------
  heading = $(RH_NT_A)

  // complete when 60 degrees turn achieved
  duration = no-time-limit
  complete_thresh = 5 // degrees?
}

//----------------------------------------------
// Near turn, return leg is left of outward leg
//----------------------------------------------
Behavior = BHV_ConstantHeading
{
  // General Behavior
  //-------------------------

  name = turn_near_left
  pwt = 100

  condition = RETURNING = false
  condition = DEPLOY = true
  condition = TURNING = true
  condition = OUTBOUND = false
  condition = LEFTHAND = true

  activeflag = CONST_SPD_RESET=true

  endflag = TURNING = false
  endflag = OUTBOUND = true
  endflag = LEFTHAND = false

  perpetual = true

  // ConstantHeading specific
  //-------------------------
  heading = $(LH_NT_A)

  // complete when 60 degrees turn achieved
  duration = no-time-limit
  complete_thresh = 5 // degrees?
}

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

     speed = 2.0
		 duration = 10
		 duration_reset = CONST_SPD_RESET=true

}