initialize DEPLOY     = false
initialize RETURN     = false
initialize TAGGED     = false

set MODE     = ACTIVE {
  DEPLOY     = true
} INACTIVE

set MODE     = RETURNING {
  MODE       = ACTIVE
  RETURN     = true
} INGAME

set MODE     = TAGGED {
  MODE       = ACTIVE:INGAME
  TAGGED     = true
} UNTAGGED


//#############################################################################
Behavior = BHV_Waypoint
{
  name                    = waypt_return
  pwt                     = 100

  condition               = MODE == RETURNING

  endflag                 = STATION_KEEP = true

  speed                   = 3.0
  radius                  = 3.0
  nm_radius               = 15.0
  points                  = $(RETURN_POS)
  repeat                  = 10
  lead                    = 8
}

//#############################################################################
Behavior = BHV_Waypoint
{
  name			  = waypt_random
  pwt			  = 50
  perpetual		  = true

  condition		  = MODE == UNTAGGED
  updates		  = UPDATE_PATH
  speed			  = 5
  capture_line		  = false
  capture_radius	  = 5.0
  slip_radius		  = 5.0

  points		  = $(UNTAG_POS)

  visual_hints = nextpt_color=white, nextpt_lcolor=khaki
  visual_hints = edge_color=orange, vertex_color=white
  visual_hints = edge_size=1, vertex_size=2
}
//#############################################################################
//Behavior = BHV_Waypoint
//{
//  name                    = waypt_grab
//  pwt                     = 50
//  perpetual               = true

//  condition               = MODE == UNTAGGED

//  endflag                 = FLAG_GRAB_REQUEST=vname=$(VNAME)
//  endflag                 = TAGGED=true

//  speed                   = 5 // meters per second
//  capture_line            = false
//  capture_radius          = 5.0
//  slip_radius             = 5.0

//  points                  = $(GRAB_POS)
//}

//#############################################################################
Behavior = BHV_Waypoint
{
  name                    = waypt_untag
  pwt                     = 50
  perpetual               = true

  condition               = MODE == TAGGED

  endflag                 = TAGGED=false

  speed                   = 5 // meters per second
  capture_line            = false
  capture_radius          = 5.0
  slip_radius             = 5.0

  points                  = $(UNTAG_POS)
}