def enter(self): safeDepth = self.ai.data['config'].get('safeDepth', 22) offset = self._config.get('depthOffset', 2) diveRate = self._config.get('diveRate', 0.4) targetDepth = safeDepth - offset diveMotion = motion.basic.RateChangeDepth(targetDepth, diveRate) self.motionManager.setMotion(diveMotion) TranslationSeeking.enter(self)
def enter(self): duration = self._config.get('duration', 10) self._timerDone = False self.timer = self.timerManager.newTimer(PreGrabSettling.SETTLED, duration) self.timer.start() TranslationSeeking.enter(self) self._closeZ = self._config.get('closeZ', 0.97)
def getattr(): return set(['duration']).union(TranslationSeeking.getattr())
def transitions(): return TranslationSeeking.transitions(PreGrabSettling, PingerLostPreGrabSettling, { PreGrabSettling.SETTLED : PreGrabSettling, TranslationSeeking.CLOSE : PreGrabSettling, PreGrabSettling.MOVE_ON : Grabbing })
def getattr(): return set(['safeDepth', 'diveRate', 'depthOffset']).union( TranslationSeeking.getattr())
def transitions(): return TranslationSeeking.transitions(Dive, PingerLostDive, { ram.motion.basic.Motion.FINISHED : PreGrabSettling })
def enter(self): duration = self._config.get('duration', 20) self.timer = self.timerManager.newTimer(Settling.SETTLED, duration) self.timer.start() TranslationSeeking.enter(self)
def transitions(): return TranslationSeeking.transitions(Settling, PingerLostSettling, { Settling.SETTLED : Dive })
def transitions(): return TranslationSeeking.transitions(SafeCloseSeeking, PingerLost, { TranslationSeeking.CLOSE : Settling } )