//-------- 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_Waypoint { name = waypt_survey pwt = 100 condition = RETURN = false condition = DEPLOY = true endflag = RETURN = true updates = WPT_UPDATE perpetual = true cycleflag = WPT_UPDATE = order=toggle lead_condition = AVOIDING != active runflag = RF_NEXT=$[NX],$[NY] runflag = RF_PREV=$[PX],$[PY] runflag = CURR_TIME=$[UTC] wptflag = NEXT_POINT=$[NX],$[NY] wptflag = PREV_POINT=$[PX],$[PY] wptflag = CYCLE_STATUS=$[CYCLES] wptflag = INDEX=$[IX] wptflag = WPTS_REMAIN=$[WPTS_REM] wptflag = WPTS_TOTAL=$[WPTS_HIT] wptflag = CYCLES_REMAINING=$[CYCREM] 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 // cycleflag = WPT_UPDATE=order=reverse polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40 //polygon = 60,-40 : 60,-160 //point = 80,-33 order = normal repeat = 12 // --panx=-90 --pany=70 --zoom=4.4 //visual_hints = nextpt_vertex_size=8 //visual_hints = nextpt_lcolor=invisible //visual_hints = vertex_color=invisible, edge_color=invisible //visual_hints = vertex_size=5, edge_size=1 //visual_hints = label_color=invisible 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 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 } //---------------------------------------------- Behavior=BHV_ConstantSpeed { name = const_speed pwt = 200 //condition = SPD=true condition = DEPLOY = true perpetual = true updates = SPEED_UPDATE endflag = SPD = false speed = 2.5 duration = 10 peakwidth = 0.5 basewidth = 0.5 duration_reset = CONST_SPD_RESET=true } //---------------------------------------------- //Behavior=BHV_MaxSpeed { name = maxspd pwt = 500 condition = DEPLOY = true condition = SPDLIMIT = true perpetual = true max_speed = 0 basewidth = 0 } //---------------------------------------------- //Behavior=BHV_AvoidWalls { name = avd_walls2 pwt = 111 condition = DEPLOY = true perpetual = true ttc_base = 8 ttc_rate = .5 // wall = pts={84,-45 : 84,-15}, label=north_single wall = pts={0,-72: 47,-72 : 43,-89 : 40,-100}, label=west wall = pts={120,-72 : 93,-72 : 67,-89 : 47,-121}, label=east // wall = pts={-60,-191 : 75,-190}, label=south // wall = pts={31,55 : 51,-55 : 84,-55 : 84,55}, label=north // wall = pts={37,-180 : 53,-104 : 106,-102 : 125, -181}, label=east idleflag = AVOIDING = idle activeflag = AVOIDING = active nogo_ttcpa = 5 safe_ttcpa = 15 min_util_cpa_dist = 2 max_util_cpa_dist = 10 pwt_outer_dist = 20 pwt_inner_dist = 10 completed_dist = 6000 }