//-------- FILE: alpha.bhv ------------- initialize DEPLOY = false initialize RETURN = false initialize SPDLIMIT = true //initialize DRIFT_X = 0.5 //initialize DRIFT_Y = 0.7 initialize AVOIDING = idle //---------------------------------------------- //Behavior = BHV_HSLine { name = hsline time_on_leg = 5 condition = DEPLOY=true } //---------------------------------------------- Behavior = BHV_Waypoint { name = waypt_survey pwt = 100 condition = RETURN = false condition = DEPLOY = true endflag = RETURN = true endflag = EFLAG = endings=$[CTR2] cycleflag = CFLAG = cyles=$[CTR1] wptflag = WFLAG = waypoints=$[CTR] wptflag = WPI = $[PI] wptflag = WNI = $[NI] updates = WPT_UPDATE perpetual = true lead_condition = AVOIDING != active //wptflag_on_start = true use_alt_speed = true speed_alt = 1 lead = 8 lead_damper = 1 lead_to_start = true speed = 4.0 // meters per second capture_line = true capture_radius = 5.0 slip_radius = 15.0 efficiency_measure = all polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40 order = normal repeat = 400 visual_hints = nextpt_color=light_green visual_hints = nextpt_vertex_size=18 visual_hints = nextpt_lcolor=gray70 //visual_hints = vertex_color=dodger_blue, edge_color=white //visual_hints = vertex_size=6, edge_size=1 visual_hints = vertex_color=white, edge_color=white visual_hints = vertex_size=12, edge_size=2 } //---------------------------------------------- Behavior=BHV_Waypoint { name = waypt_return pwt = 100 condition = RETURN = true condition = DEPLOY = true perpetual = true updates = RETURN_UPDATE endflag = RETURN = false endflag = DEPLOY = false endflag = MISSION = complete endflag = EFLAG = r_endings=$[CTR_02] cycleflag = CFLAG = r_cyles=$[CTR_01] wptflag = WFLAG = r_waypoints=$[CTR] lead_condition = AVOIDING != active lead = 8 lead_damper = 1 lead_to_start = true speed = 2.0 capture_radius = 2.0 slip_radius = 8.0 point = 0,-20 }