def run(self):
global NUMTARGS
NUMTARGS = 2
global T1
T1 = util.getConfig(self,'Target 1', 'Swordfish')#naturally swordfish is not an actual color, but irregardless
global T2
T2 = util.getConfig(self,'Target 2', 'Swordfish')#naturally swordfish is not an actual color, but irregardless
def run(self):
#define variables for counting how many windows have been seen
#the default is 1 window(which is just seeing the window)
global WindowSeenCount
global totalWindowSeen
totalWindowSeen = 0
WindowSeenCount = util.getConfig(self,'WindowSeenCount',1)
def enter(self):
self.visionSystem.buoyDetectorOn()#change to torpedo once ready
#initialize global variables for this set of states
#set the two window target events(may require some additional work)
#this is an appropriate use of global variables, these will only ever be read
global WindowTarget1
WindowTarget1 = util.getConfig(self,'Target1',-1)
global WindowTarget2
WindowTarget2 = util.getConfig(self,'Target2',-1)
#some additional parsing likely required
windowDepth = util.getConfig(self,'windowDepth', -1)
if windowDepth == -1:
raise LookupError, "windowDepth not specified"
#dive to depth for this task
util.dive(self,windowDepth,self._diveRate)
def exit(self):
util.freeze(self)
self.motionManager.stopCurrentMotion()
def stop(self):
self.motionManager._controller.moveVel(0,0,0)
util.freeze(self)
def DONE(self,event):
util.freeze(self)
def exit(self):
utility.freeze(self)
self.motionManager.stopCurrent()
