//------------------------------------------
// NAME: M. Benjamin, MIT
// FILE: alpha.bhv
//------------------------------------------
initialize   DEPLOY = false
initialize   RETURN = false
initialize   OBSTACLE_HIT = 0

set MODE = ACTIVE {
  DEPLOY = true
  OBSTACLE_HIT = 0
} INACTIVE

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

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

           speed = 1.4
  capture_radius = 5
     slip_radius = 15
        patience = 20
   offboard_tgap = 20

         leg = x=65,y=-110,len=200,ang=90
  turn1_bias = 100
  turn2_bias = 100
   turn1_dir = star
   turn2_dir = port
    turn_ext = 10

        repeat = 3
     turn1_rad = 15
     turn2_rad = 15
       mid_pct = 20
   adjust_turn = false
       legflag = PCT_TO_NEXT=$[PCT_NP]
       wptflag = LEG_RESULT="id=$[LEG_ID],dist=$[LEG_ODO],wraps=$[WRAPS]"

  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
}

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

           speed = 2.0
  capture_radius = 2.0
     slip_radius = 8.0
          points = 0,-20
}

//------------------------------------------------o
Behavior = BHV_AvoidObstacleV24
{
  name       = avd_obs
  pwt        = 110
  condition  = MODE == ACTIVE
  templating = spawn
  updates    = OBSTACLE_ALERT

   use_refinery = true

      allowable_ttc = 100
     pwt_outer_dist = 50
     pwt_inner_dist = 25
  max_util_cpa_dist = 20
  min_util_cpa_dist = 10
     completed_dist = 55

	visual_hints = obstacle_edge_color = white
	visual_hints = obstacle_vertex_color = green
	visual_hints = obstacle_vertex_size = 3
	visual_hints = obstacle_label_color = off
	visual_hints = all_label_color = off
	}