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

initialize   DEPLOY = false
initialize   RETURN = false
initialize   STATION_KEEP = false
initialize   LEG_RUNNING = false
initialize   ATURNING = false
initialize   ZIGGING = false
initialize   FULL_STOPPING = false
initialize   FIX_TURNING = false
	
set MODE = ACTIVE {
  DEPLOY = true
} INACTIVE

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

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

set MODE = FULL_STOP {
  MODE = ACTIVE
  FULL_STOPPING = true
}
set MODE = FIX_TURN {
  MODE = ACTIVE
  FIX_TURNING = true
}
set MODE = ZIGZAG {
  MODE = ACTIVE
  ZIGGING = true
}
set MODE = ATURN {
  MODE = ACTIVE
  ATURNING = true
}
set MODE = LEGRUN {
  MODE = ACTIVE
  LEG_RUNNING = true
} 

//----------------------------------------------
Behavior = BHV_LegRunX
{ 
  name      = legs
  pwt       = 100
  condition = MODE == LEGRUN
  updates   = LEG_UPDATE
  perpetual = true

            lead = 5
     lead_damper = 4
           speed = 1.6
    capture_line = true
  capture_radius = 5
     slip_radius = 15

             vx1 = 80, -80
	           vx2 = -20, -80
					repeat = 3
	    turn1_rad  = 12
	    turn2_rad  = 12
	    turn1_bias = 100
	    turn2_bias = 100
         mid_pct = 20
				 turn1_ext = 10
				 turn2_ext = 30

	shift_pt = 11,-28
	leg_angle = 64.6
	
//	         coord = true
	
	legflag = PCT_TO_NEXT=$[PCT_NP]
	wptflag = LEG_RESULT="id=$[LEG_ID],dist=$[LEG_ODO],wraps=$[WRAPS]"
	
	//midflag = ZIGGING=true
	//leg_spds = 2, 3:1.8, 1.5
	//leg_spds = 2, 1.8, 1.6, 1.4, 1.2

#ifdef VNAME abe
	    turn1_dir  = port
	    turn2_dir  = star
#elseifdef VNAME ben
    shift_point  = 30,-65
	    turn1_dir  = star
	    turn2_dir  = port
#elseifdef VNAME cal
	shift_point  = 30,-110
#elseifdef VNAME deb
	shift_point  = 30,-140
#elseifdef VNAME eve
	shift_point  = 30,-160
#elseifdef VNAME fin
	shift_point  = 30,-180
#endif

  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=gray80
  visual_hints = turn_vertex_color=green
}

//----------------------------------------------
Behavior = BHV_FullStop
{ 
  name      = fstop
  pwt       = 100
  condition = MODE==FULL_STOP
	endflag   = FULL_STOPPING = false

  updates   = FSTOP_UPDATE
  perpetual = true

	delay_complete = 15
	mark_duration = 2
	stop_thresh   = 0.1

	mark_flag   = SAY_MOOS=stopping
	unmark_flag = SAY_MOOS=halted

	endflag = STOPPING_TIME = $[STOP_TIME]
	endflag = STOPPING_DIST = $[STOP_DIST]
}

//----------------------------------------------
Behavior = BHV_FixedTurn
{ 
  name      = fturn
  pwt       = 100
  condition = MODE==FIX_TURN
	endflag   = FIX_TURNING = false

  updates   = FTURN_UPDATE
  perpetual = true

	fix_turn  = 675
	mod_hdg   = 25
	turn_dir  = star
  speed     = auto
	
	turn_spec = key=1, spd=2.8, mhdg=25, fix=350, turn=port
	turn_spec = key=1, flag=SAY_MOOS=one
	turn_spec = key=1, flag=SAY_MOOS="distance is $[TURN_DIST]"


	turn_spec = spd=1.4, mhdg=60, fix=270, turn=star, flag=SAY_MOOS=two

	turn_spec = spd=2.8, mhdg=30, fix=360, turn=port, flag=SAY_MOOS=three
	turn_spec = spd=2.0, mhdg=35, turn=auto

	schedule_repeat = true
	
	stale_nav_thresh = 5
	
	endflag = TURNING_TIME = $[TURN_TIME]
	endflag = TURNING_DIST = $[TURN_DIST]
}
	
//----------------------------------------------
Behavior = BHV_ZigZag
{ 
  name      = zig
  pwt       = 100
  condition = MODE==ZIGZAG
	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 = 45
 zig_angle_fierce = 74
	
       hdg_thresh = 2 
   fierce_zigging = true
}

//----------------------------------------------
Behavior=BHV_AndersonTurn
{
  name       = aturn
  pwt        = 100
  condition  = (MODE==ATURN)
  perpetual  = true

  updates    = ATURN_UPDATE
  endflag    = ATURNING = false

  engage_var = ATURN_ENGAGE
}

	
//----------------------------------------------
Behavior=BHV_Waypoint
{
  name       = waypt_return
  pwt        = 100
  condition  = MODE==RETURNING
  perpetual  = true
  updates    = RETURN_UPDATE
  endflag    = RETURN = false
  endflag    = DEPLOY = false
  endflag    = MISSION = complete
 
            lead = 8
     lead_damper = 1
   lead_to_start = true
           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
           point = $(START_POS)
}

//---------------------------------------------- 
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
}