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 } )