basicBehaviors.h

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#ifndef BASICBEHAVIORS_H_
#define BASICBEHAVIORS_H_

//#define RVTV_RATIO                                            ((MILLIRAD_PI / 4) / 80)
#define RVTV_RATIO                                              ((MILLIRAD_PI / 4) / 100)


Beh* behFlock(Beh* behPtr, NbrList* nbrListPtr, int32 tv);


int32 behFlockAngle(NbrList* nbrListPtr);


Beh* behOrbit(Beh* behPtr, Nbr* nbrPtr, int32 tv);


Beh* behFollowPredesessor(Beh* behPtr, NbrList* nbrListPtr, int32 tv);


//TODO Implement or delete?
//Beh* behFollowPredesessorNew(Beh* behPtr, NbrList* nbrListPtr, uint8* isLeader, int32 tv, BroadcastMessage msg);


//TODO: update brief to be more specific
Beh* behWallFollow(Beh* behPtr, NbrList* nbrListPtr, uint32 tv);


Beh* behClusterBroadcast(Beh* behPtr, NbrList* nbrListPtr, int32 tv, BroadcastMessage* msgPtr);

Beh* rvBearingController(Beh* behPtr, int32 angle, int32 gain);


Beh* behMoveForward(Beh* behPtr, int32 tv);


Beh* behBearingController(Beh* behPtr, int32 angle);


//TODO fix code overlap with rvBearingController
Beh* behBearingControllerGain(Beh* behPtr, int32 angle, int32 rvGain);


Beh* behMoveToNbr(Beh* behPtr, Nbr* nbrPtr, int32 tv);


Beh* behMoveFromNbr(Beh* behPtr, Nbr* nbrPtr, int32 tv);

//TODO: implement or delete?
Beh* behBumpRotate(Beh* behPtr, int32 tv);

#endif