//-------- FILE: alpha.bhv ------------- initialize DEPLOY = false initialize RETURN = false initialize AVOIDING = idle initialize ZIGGING = false //initialize DRIFT_X = 0.5 //initialize DRIFT_Y = 0.7 //---------------------------------------------- Behavior = BHV_LegRun { name = legs pwt = 100 condition = RETURN = false condition = DEPLOY = true condition = ZIGGING = false endflag = RETURN = true endflag = EFLAG = endings=$[CTR2] updates = LEG_UPDATE perpetual = true lead = 5 lead_damper = 1 speed = 4.0 // meters per second capture_line = true capture_radius = 2 slip_radius = 15 vx1 = 70, -35 vx2 = -35, -85 //vx1 = 100, -25 //vx2 = -70, -95 //vx2 = -50, -120 //vx1 = 150, -120 //points = 60,-40 : -40,-80 repeat = 1 legflag = PCT_TO_NEXT=$[PCT_NP] turn1_dir = port turn2_dir = star turn1_rad = 20 turn2_rad = 20 turn1_bias = 100 turn2_bias = 100 mid_pct = 10 //midflag = ZIGGING=true 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=6, edge_size=1 visual_hints = turn_edge_color=white visual_hints = turn_vertext_color=green visual_hints = turn_label_color=off } //---------------------------------------------- Behavior = BHV_ZigZag { name = zig pwt = 100 condition = RETURN = false condition = DEPLOY = true condition = ZIGGING = true endflag = ZIGGING = false updates = ZIG_UPDATE perpetual = true speed = 3.0 // meters per second stem_on_active = true zig_first = star max_zig_zags = 1 zig_angle = 55 hdg_thresh = 2 fierce_zigging = true } //---------------------------------------------- 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 }