def _start(self):
self.target_depth = max(data.depth() + self.amount, 0)
pid.depth.heading = self.target_depth
def _poll(self):
if abs(self.target_depth - data.depth()) <= self.tolerance:
return NavRoutine.COMPLETED
return NavRoutine.RUNNING
def _poll(self):
if abs(self.target_depth - data.depth()) <= self.tolerance:
return NavRoutine.COMPLETED
return NavRoutine.RUNNING
def _start(self):
self.target_depth = data.depth() + self.amount
pid.depth.heading = self.target_depth
def _start(self):
self.target_depth = max(data.depth() + self.amount, 0)
pid.depth.heading = self.target_depth
