# ***************************************************************************
#			    Preypred
#
# 	Last update: Sept 99
#
# ***************************************************************************

nsl set system.model Preypred
nsl set system.simDelta 1 			;#  **** Time Step msec.
#nsl set system.simEndTime 20 ;# 50  ;#  300 Total simulation time =  sec
nsl set system.simEndTime 1
nsl set system.simEpochSteps 20 

#nsl load detour_sti.nsl
nsl load prdSMot_sti.nsl

# schema thresholds  

set th 0.9

nsl set Preypred.frog.jump.th $th
nsl set Preypred.frog.turn.th $th
nsl set Preypred.frog.backward.th $th

nsl set Preypred.frog.depth.th $th
nsl set Preypred.frog.tactile.th $th
nsl set Preypred.frog.preyRec.th $th
nsl set Preypred.frog.sorRec.th $th
nsl set Preypred.frog.preyApproach.th $th
nsl set Preypred.frog.sorAvoid.th $th
nsl set Preypred.frog.bumpAvoid.th $th
#CambiosPredador
nsl set Preypred.frog.predatorRec.th $th
nsl set Preypred.frog.predatorAvoid.th $th
#FinCambiosPredador

nsl set Preypred.frog.xform.th $th

#nsl set Detour.frog.noise 0.1	;# noise on schema activations.

nsl set Preypred.frog.bumpAvoid.tune_tm 0.3 	;#0: cyclic jump mode 0.5: cyclic turn
nsl set Preypred.frog.bumpAvoid.field_a 1.5
nsl set Preypred.frog.bumpAvoid.field_center 45 ;# 50 ;#30  ;#20
nsl set Preypred.frog.mhm.field_a 1.5
nsl set Preypred.frog.mhm.field_center 45 ;# 50 ;# 65
#nsl set Detour.frog.mhm.d_norm 0.35 # 1 w/o learning ;# 0.5 for coherence

nsl set Preypred.frog.sorRec.edge 3     ;# area considered edge. 

set safe_distance 3
nsl set Preypred.frog.depth.safe_distance $safe_distance
nsl set Preypred.frog.tactile.safe_distance $safe_distance
nsl set Preypred.frog.bumpAvoid.safe_distance $safe_distance

nsl set Preypred.frog.jump.step 20
nsl set Preypred.frog.backward.step 8 ;# 10

nsl set Preypred.frog.preyApproach.t5_2_erf_sig 15 ;# 16 ;# 18
nsl set Preypred.frog.preyApproach.t5_2_erf_wgt 15 ;# 1.3
#nsl set Detour.frog.preyApproach.t5_w 0.5 ;#t5 over tegmentum

#CambiosPredador
nsl set Preypred.frog.predatorAvoid.th3_erf_sig 15 ;# 16 ;# 18
nsl set Preypred.frog.predatorAvoid.th3_erf_wgt 15 ;# 1.3
#FinCambiosPredador

nsl set Preypred.frog.sorAvoid.tm_irf_sig 1.5 ;# 1.8;# 2.0 
nsl set Preypred.frog.sorAvoid.tm_irf_wgt 4 ;#3 ;# 2.0

nsl init ;# initSys

nsl create window_interface

nsl load preypred_fields
nsl load preypred_env