-------------------------------------------------- TrueTime 1.5 Example: Control and Coordination of Mobile Motes Directory: $DIR/examples/motes--------------------------------------------------1. INTRODUCTIONThis example shows how to visualise the movements of dynamicallymoving motes using the built in functionality of Matlab. The exampleconsists of three motes, with dynamics in the "x" and "y" directionsmodeled using simple integrators. The motes are sent out on a missionwhich consists of visiting a number of checkpoints, seen as red marksin the animation window. In the window, the transmission range of themotes can be seen as large partly transparent coloured circles aroundthe smaller coloured motes. The checkpoints should be visited at leastonce by some node in the group. When the motes are able tocommunicate, they tell each other where they are heading and shareinformation on which nodes that have been visited by the group. When acheckpoint has been visited it changes colour from green to red.2. COMPILING THE SIMULATION FILES2.1 Configuring the TrueTime Environment    Before starting Matlab, you must set the environment variable    TTKERNEL to point to the directory with the TrueTime kernel files:        Unix/Linux: > export TTKERNEL=$DIR/kernel        Windows:  Control Panel / System / Advanced / Environment Variables    Then add the following lines to your MATLAB startup script. This    will set up all necessary paths to the TrueTime kernel files.        addpath(getenv('TTKERNEL'))        init_truetime;2.2 Compilation    As described in the reference manual it is possible to write a    TrueTime simulation (i.e. the code functions for the tasks and the    initialization commands) either as m-files or as C++ functions. For    this example only the m-file approach is provided.       Since the TrueTime archive contains pre-compiled files, no     compilation is required to run TrueTime in the Matlab version.     However, if needed, the files may be re-compiled by issuing the     command make_truetime from the command prompt.3. SIMULATIONSOpen the model motes.mdl to run the simulation.  - Run init.m to set up the data structures before you run the simulation. - Run the simulation to see the animation. If you are interested in building   your own custom animation, look at the file moteanimation.m where the   "patch" command is used to paint the initial picture of every mote. These   pictures are then moved with the "set" command using the "XData" and "YData"   parameters.