Fritz Heckel

The patrolbehavior is working, but a few issues remain:

• It appears that the agent threads are sometimes not generating answers quickly enough, or locking up and not returning answers at all. Because the default is currently to return a stop when there is no answer returned, we get jerky movement. I need to pass a None up and check for it properly so we just skip issuing a command.
• Turning is currently slow– the turning speed of 300 was much to fast, and basically uncontrollable. I didn’t get percepts in or effectors out fast enough, so Ralph would end up spinning in place because it kept missing the target. We need to either include a speed factor for rotation, or a rotate-to command to let the game control the rotation level.
• There are some steering artifacts; occasionally Ralph will make odd loop-de-loop maneuvers. I may have done something stupid in normalizing the angles so that he’s turning in the wrong direction.