//*******************************************************
// Vehicle behavior configuration file

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false

set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

set MODE = STATION-KEEPING {
  MODE = ACTIVE
  STATION_KEEP = true
}

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

	
//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_pattern
  pwt        = 100
  condition  = MODE==RUNNING_PATTERN
  perpetual  = true
  updates    = SEARCH_UP
  //updates    = TRACKLINE_WAYPOINTS_UP	
  cycleflag  = TRACKLINE_WAYPOINTS_UP=order=reverse
  cycleflag  = MCTS_TRACKLINE_COMPLETE=true
  //endflag    = RETURN=true
 
            lead = 10
     lead_damper = 4
   lead_to_start = true
           speed = 2
  capture_radius = 2.0
     slip_radius = 4.0
          repeat = 10
       perpetual = true
       
          //points = format=lawnmower, label=foxtrot, x=-90, y=126, height=500, width=90,lane_width=15, rows=north_south, degs=-17.5
	  points = pts={-55,122:-97,105:-114,127:-75,142}
	  
	    visual_hints = vertex_size=3, edge_size=5, edge_color=yellow, vertex_color=yellow
  
}


//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = MODE==RETURNING
  perpetual  = true
  updates    = RETURN_UP
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete

	   speed = 2
  capture_radius = 20.0
     slip_radius = 30.0

  points = 0,0


 }

//----------------------------------------------
Behavior = BHV_StationKeep
{
  name         = station-keep
  pwt          = 100
  condition    = MODE==STATION-KEEPING

     center_activate = true
        inner_radius = 10
        outer_radius = 20
         outer_speed = 1.4

       transit_speed = 1.4
          swing_time = 7
        visual_hints = vertex_size=0, edge_color=gray50
}