//-------- 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 idleflag = WPTING = idle runflag = WPTING = running endflag = WPTING = end inactiveflag = WPTING = inactive UPDATES = WPT_UPDATE perpetual = true lead = 8 lead_damper = 1 speed = 2 // meters per second capture_line = true capture_radius = 5.0 slip_radius = 15.0 points = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40 repeat = 3 cycleflag = WPT_UPDATE = order=toggle 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 endflag = RETURN = false endflag = DEPLOY = false endflag = MISSION = complete speed = 2.0 capture_radius = 2.0 slip_radius = 8.0 points = 0,-20 } //---------------------------------------------- Behavior = BHV_StationKeep { name = station-keep pwt = 100 condition = MODE==STATION-KEEPING center_activate = true inner_radius = 5 outer_radius = 10 outer_speed = 1.0 transit_speed = 1.3 swing_time = 7 visual_hints = vertex_size=0, edge_color=gray50 }