Skip to content
Page auto-generated

Docked

Behavior in module: Dock

Settings

dataTimeout

  • Unit: SECOND
  • Type: ConfigURI
Max time duration allowed with no stepper updates.

detachTimeout

  • Unit: SECOND
  • Type: ConfigURI
Time duration for determining if the vehicle is detached from the dock.

dockPitch

  • Unit: DEGREE
  • Type: ConfigURI
Pitch angle to hold while on the dock.

dockRange

  • Unit: METER
  • Type: ConfigURI
Maximum absolute range allowed from dock xponder.

dockTimeout

  • Unit: SECOND
  • Type: ConfigURI
Time duration for determining if the vehicle is ON the dock (transition from detached->docked).

dockingDepthOffset

  • Unit: METER
  • Type: ConfigURI
Offset from the dock xponder depth (workSite.beaconDepth) to use when docking. Positive down.

driveWhirl

  • Unit: BOOL
  • Type: SettingURI
Elevators down, rudder over, drive forward whilenegative in slide

jogLength

  • Unit: SECOND
  • Type: SettingURI
Duration for which to run the prop in each direction while in jog

massWiggle

  • Unit: BOOL
  • Type: SettingURI
Sweep the mass while negative in slide

propJog

  • Unit: BOOL
  • Type: SettingURI
Repeatedly bump the prop forward and reverse while negative in slide

rangeTimeout

  • Unit: SECOND
  • Type: ConfigURI
Max time duration allowed with no range updates. Must be longer than ping rate!

slideAllowed

  • Unit: BOOL
  • Type: SettingURI
Use slide mode?

slideCloseTime

  • Unit: MINUTE
  • Type: SettingURI
Time to keep arm closed to check power/comms once single slide iteration complete

slideDriveTime

  • Unit: MINUTE
  • Type: SettingURI
Time to either jog or whirl during a single slide iteration

slideRetries

  • Unit: COUNT
  • Type: SettingURI
Desired number of times to try to slide

slideSinkTime

  • Unit: MINUTE
  • Type: SettingURI
Time to sit at buoyancy minimum during a single slide iteration

slideTimeout

  • Unit: MINUTE
  • Type: SettingURI
Desired time to try to slide

verbose

  • Unit: BOOL
  • Type: ConfigURI
Report state transitions to shore when true

whirlSpeed

  • Unit: METER_PER_SECOND
  • Type: SettingURI
Speed to drive forward in whirl

wiggleCount

  • Unit: COUNT
  • Type: SettingURI
How many wiggles to try before checking for success

Output Settings

dockSuccessful

  • Unit: BOOL
  • Type: OutputURI
True if post-dock sequence completed successfully