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\newpage \subsection*{Parameter Summary for BHV\_PeriodicSpeed}
%-------------------------------------------------------------------------

\begin{table}[ht]
\begin{minipage}[c]{1.0\textwidth}
  \centering
  \mbox{
  \footnotesize
  \begin{tabular}{|l|l|l|c|l|r|} \hline Parameter &amp; Argument Type &amp;
    Example &amp; Case-Sensitive &amp; Default &amp; Page \\ \hline \hline
    \input{behaviors/apx_params_general}
    basewidth &amp; double  &amp; \vvar{0.5} &amp; -   &amp; \vvar{0} &amp; \pageref{bhv_periodic_spd}  \\
    initially\_busy   &amp; Boolean string &amp; \vvar{true} &amp; no   &amp; \vvar{false} &amp; \pageref{bhv_periodic_spd}  \\
    peakwidth &amp; double  &amp; \vvar{0.2} &amp; -   &amp; \vvar{0} &amp; \pageref{bhv_periodic_spd}  \\
    period\_busy      &amp; double  &amp; \vvar{60}  &amp; -   &amp; \vvar{0} &amp; \pageref{bhv_periodic_spd}  \\
    period\_lazy      &amp; double  &amp; \vvar{600} &amp; -   &amp; \vvar{0} &amp; \pageref{bhv_periodic_spd}    \\
    period\_speed     &amp; double  &amp; \vvar{0.8} &amp; -   &amp; \vvar{0} &amp; \pageref{bhv_periodic_spd}  \\
    reset\_upon\_running &amp; Boolean string &amp; \vvar{false} &amp; no   &amp; \vvar{true} &amp; \pageref{bhv_periodic_spd}  \\
    summit\_delta &amp; double $[0,100]$ &amp; \vvar{0.5} &amp; -   &amp; \vvar{25} &amp; \pageref{bhv_periodic_spd} \\ \hline
  \end{tabular}
  \normalsize}
\end{minipage}
\caption{Parameters for the BHV\_PeriodicSpeed behavior.}
\label{table_bparams_perspeed}
\end{table}

\subsection*{Example Behavior File Configuration for  BHV\_PeriodicSpeed}

\noindent
{\em {Listing \thesection.\arabic{alisting} - An example BHV\_PeriodicSpeed configuration.}}
\label{bhv_periodicspeed_block}
\scriptsize
\begin{verbatim}
 0  Behavior = BHV_PeriodicSpeed
 1  {
 2    name     = periodic_speed
 3    priority = 500
 4
 5        period_length = 30    // Seconds
 6           period_gap = 120   // Seconds
 7        reset_on_idle = true  // The default
 7       initially_busy = false // The default
 7         period_speed = 0.5   // Meters/sec
 8            peakwidth = 0.3   // Meters/sec   
 9            basewidth = 0.5   // Meters/sec   
 9         summit_delta = 25    // The default      
12  }
\end{verbatim}
\normalsize
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