Colony

#ifndef _LEMMINGS_H_

#define _LEMMINGS_H_

//The States: 

#define LEAD         1        // move around randomly, leading a chain

#define FOLLOW         2        // follow another bot

#define FOLLOW_MULTI_DEFAULT 1 // set default multi-following pattern

#define CRAZY_MAX 200       // The number of counts between "crazy moments"

int cur_state;                 // current state

int crazy_count;    // Counter for a random behavior

int follow_bot;                // follow this bot (-1 if leader)

int follow_direction; // follow in this direction

int follow_multi;                // set to 0 for single-file following, 1 for tree following

void lemmings_init(void);

void lemmings_set_pattern(int pattern);

void lemmings_FSM(void);

void lemmings_Prims(void);

int lemmings_get_edge_weight(int robot1, int robot2);

void lemmings_evaluate_state(void);

#endif