94 lines
2.3 KiB
Plaintext
Executable File
94 lines
2.3 KiB
Plaintext
Executable File
//-------- FILE: alpha.bhv -------------
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initialize DEPLOY = false
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initialize RETURN = false
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initialize REGION = east
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = waypt_survey
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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condition = REGION = east
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endflag = REGION = west
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updates = WPT_UPDATE
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perpetual = true
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 3 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
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order = normal
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repeat = forever
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//----------------------------------------------
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Behavior = BHV_Waypoint
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{
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name = west_waypt_survey
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pwt = 100
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condition = RETURN = false
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condition = DEPLOY = true
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condition = REGION = west
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endflag = RETURN = true
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updates = WPT_UPDATE
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perpetual = true
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lead = 8
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lead_damper = 1
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lead_to_start = true
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speed = 3 // meters per second
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capture_line = true
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capture_radius = 5.0
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slip_radius = 15.0
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efficiency_measure = all
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points = -35,-65 : -35,-125 : 20,-125 : 20, -65
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order = normal
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repeat = forever
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visual_hints = nextpt_color=yellow
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visual_hints = nextpt_vertex_size=8
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visual_hints = nextpt_lcolor=gray70
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visual_hints = vertex_color=dodger_blue, edge_color=white
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visual_hints = vertex_size=5, edge_size=1
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}
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//----------------------------------------------
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Behavior=BHV_Waypoint
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{
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name = waypt_return
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pwt = 100
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condition = RETURN = true
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condition = DEPLOY = true
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perpetual = true
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updates = RETURN_UPDATE
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endflag = RETURN = false
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endflag = DEPLOY = false
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endflag = MISSION = complete
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speed = 2.0
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capture_radius = 2.0
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slip_radius = 8.0
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points = 0,-20
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}
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