--******************************************************************
--
--	example_formation
--
--	Formation mission script for 4 robots.
--	
--	This example spawns four robots.
--	The companion overlay file that defines the points to move to 
--	is example_formation.ovl .
--
--	24 Oct 94	Original, based on earlier	Tucker Balch
--			stuff by Jonathan Cameron.
--
--******************************************************************

MISSION NAME "Formation Demo"

SCENARIO "Formation Demo"

OVERLAY example_formation.ovl

SET OBSTACLE-COVERAGE 3
SET MIN-OBSTACLE-RADIUS 3
SET MAX-OBSTACLE-RADIUS 15
SET SEED 416565 -- 5052, 450, 206885425, 1003573794, 96165
SET HIGHLIGHT-REPELLING-OBSTACLES
CREATE-OBSTACLES

-- NEW-ROBOT roverrobot "./robot" red "rover.cc.gatech.edu"
-- NEW-ROBOT ericsonrobot "./robot" blue "ericson.cc.gatech.edu"

NEW-ROBOT desotorobot "~robot/mission.linux/src/robot/robot" red "tinman.cc.gatech.edu"
-- NEW-ROBOT iorobot "~robot/mission/src/robot/robot" blue "io.cc.gatech.edu"

-- UNIT <scouts> (<scouts-1> roverrobot ericsonrobot) (<scouts-2> roverrobot roverrobot)

-- UNIT <scouts> (<scouts-1> desotorobot iorobot) (<scouts-2> desotorobot desotorobot)

UNIT <scouts> (<scouts-1> desotorobot desotorobot) (<scouts-2> desotorobot desotorobot)

COMMAND LIST:

 0. UNIT scouts START PP-CHARLIE 0 20

 1. UNIT scouts MOVETO PP-DELTA FORMATION Column

 2. UNIT scouts MOVETO PP-CHARLIE FORMATION Column

 3. UNIT scouts MOVETO PP-DELTA FORMATION Line

 4. UNIT scouts MOVETO PP-CHARLIE  FORMATION Line

 5. UNIT scouts MOVETO PP-DELTA FORMATION Wedge

 6. UNIT scouts MOVETO PP-CHARLIE  FORMATION Wedge

 7. UNIT scouts MOVETO PP-DELTA FORMATION Diamond

 8. UNIT scouts MOVETO PP-CHARLIE  FORMATION Diamond

 9. UNIT scouts MOVETO PP-DELTA FORMATION Sweep

 10. UNIT scouts MOVETO PP-CHARLIE FORMATION Sweep

11. UNIT scouts STOP

12. Quit
