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Generally if you want defense to stay in 1 place all the time you build a turret...
Ive some guards and robots as guards there, and they guard (stand still) spots where there isnt any guard post (alongside their assigned guard posts)
Still, it isnt really a problem as The Casttle is very easy to defend, just building 3 or 4 walls and there is only one way to enter
You can also use turrets (dont move ;D) and dogs (stay around their kennel)
A high percentage of my defense settlers rotate like that between guard posts. There are exceptions, like the guard posts I set on top of the big screen at Starlight Drivein, they stay up there constantly.
I don't know if you mod, but there is a cool mod called Home Maker on the Nexus, that has a guard post marker that looks like a floor mat. It's treated the same way as the cumbersome vanilla guard posts, but you can place them just about anywhere, creating a better aesthetic to your settlement. Say you have a nice 2 story house with a balcony and a railing, you can put down a couple of those mats to post guards overlooking the settlement.
Castle have spots for Guards even you scrap all...
A video showing one missile turret providing support to whole settlement.
http://steamcommunity.com/sharedfiles/filedetails/?id=1125848337
http://steamcommunity.com/sharedfiles/filedetails/?id=734069742
http://steamcommunity.com/sharedfiles/filedetails/?id=734069830
http://steamcommunity.com/sharedfiles/filedetails/?id=734069944
http://steamcommunity.com/sharedfiles/filedetails/?id=734070088
http://steamcommunity.com/sharedfiles/filedetails/?id=734070141
http://steamcommunity.com/sharedfiles/filedetails/?id=734070202
http://steamcommunity.com/sharedfiles/filedetails/?id=734070353
http://steamcommunity.com/sharedfiles/filedetails/?id=734070416
http://steamcommunity.com/sharedfiles/filedetails/?id=734070483
http://steamcommunity.com/sharedfiles/filedetails/?id=734070591
I had 10 guard posts on the Castle walls and ten assigned guards. My problem was that half of the guards would wander about and not stand their posts. I wanted to know if I assigned more guards, would other guards quit being guards or would they stay guards, some of whom would continue to wander, and some who would stay at guard posts, but because there were more of them, presumably staying at guard posts more often.
So I saved the game and added a half dozen extra guards anyway and sure enough, most of them stayed guards. One apparently stopped being a guard, but I was able to reassign him to guard duty and I 'think' the rest stayed guards after that point. Now with 16 guards and only 10 guard stations, they are in fact standing more often at their guard stations than they used to. Where five roughly, used to be maned, now around eight tend to be. If I can squeeze an extra four guards in there, I might even fill up the posts. (Gotta love mods.)
My game unmodded will not allow me to assign more guards than post(how or why would it). My guards never stop guarding so if I assign one guard to every post they never leave their posts since all posts are filled.