//--------    FILE: alpha.bhv   -------------

initialize   DEPLOY = false
initialize   RETURN = false
//initialize   DRIFT_X = 0.5
//initialize   DRIFT_Y = 0.7



//----------------------------------------------
Behavior = BHV_Waypoint
{ 
  name      = waypt_survey
  pwt       = 100
  condition = RETURN = false
  condition = DEPLOY = true
  endflag   = RETURN = true

  updates    = WPT_UPDATE
  perpetual  = true

                lead = 8
         lead_damper = 1
       lead_to_start = true
               speed = 4.0   // meters per second
        capture_line = true
      capture_radius = 5.0
         slip_radius = 15.0
	efficiency_measure = all

   cycleflag = WPT_UPDATE=order=reverse

             polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40

      //points = format=lawnmower, label=foxtrot, x=115, y=-100, height=120, width=100, lane_width=12, rows=north-south, startx=00, starty=0, degs=0

               order = normal
	       repeat  = 1

	       // --panx=-90 --pany=70  --zoom=4.4 

    //visual_hints = nextpt_vertex_size=8
    //visual_hints = nextpt_lcolor=invisible
    //visual_hints = vertex_color=invisible, edge_color=invisible
    //visual_hints = vertex_size=5, edge_size=1
    //visual_hints = label_color=invisible

   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=5, edge_size=1
}

//----------------------------------------------
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

                lead = 8
         lead_damper = 1
       lead_to_start = true

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

//----------------------------------------------
Behavior=BHV_ConstantSpeed
{
  name       = const_speed
  pwt        = 200
  //condition  = SPD=true
  condition  = DEPLOY = true
  perpetual  = true
  updates    = SPEED_UPDATE
  endflag    = SPD = false

     speed = 2.5

   duration = 10
   peakwidth = 0.5
   basewidth = 0.5
   duration_reset = CONST_SPD_RESET=true
	
}