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⚡ improve suave extended bt
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@Rezenders
Rezenders committed May 20, 2024
1 parent 10b8488 commit ed87670
Showing 1 changed file with 35 additions and 43 deletions.
78 changes: 35 additions & 43 deletions suave_managing/suave_bt/bts/suave_extended.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -34,45 +34,39 @@
</Fallback>
<Fallback>
<SequenceWithMemory>
<Fallback>
<is_pipeline_found/>
<ReactiveSequence>
<battery_level threshold="0.25"/>
<Fallback>
<Sequence>
<water_visibility threshold="3.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_high"/>
</Sequence>
<Sequence>
<water_visibility threshold="2.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_medium"/>
</Sequence>
<Sequence>
<water_visibility threshold="1.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_low"/>
</Sequence>
</Fallback>
<search_pipeline/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_unground"/>
</ReactiveSequence>
</Fallback>
<Fallback>
<is_pipeline_inspected/>
<ReactiveSequence>
<battery_level threshold="0.25"/>
<change_mode node_name="f_follow_pipeline"
mode_name="fd_follow_pipeline"/>
<inspect_pipeline/>
<change_mode node_name="f_follow_pipeline"
mode_name="fd_unground"/>
<change_mode node_name="f_maintain_motion"
mode_name="fd_unground"/>
</ReactiveSequence>
</Fallback>
<ReactiveSequence>
<battery_level threshold="0.25"/>
<Fallback>
<Sequence>
<water_visibility threshold="3.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_high"/>
</Sequence>
<Sequence>
<water_visibility threshold="2.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_medium"/>
</Sequence>
<Sequence>
<water_visibility threshold="1.25"/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_spiral_low"/>
</Sequence>
</Fallback>
<search_pipeline/>
<change_mode node_name="f_generate_search_path"
mode_name="fd_unground"/>
</ReactiveSequence>
<ReactiveSequence>
<battery_level threshold="0.25"/>
<change_mode node_name="f_follow_pipeline"
mode_name="fd_follow_pipeline"/>
<inspect_pipeline/>
<change_mode node_name="f_follow_pipeline"
mode_name="fd_unground"/>
<change_mode node_name="f_maintain_motion"
mode_name="fd_unground"/>
</ReactiveSequence>
</SequenceWithMemory>
<Sequence>
<change_mode node_name="f_generate_search_path"
Expand Down Expand Up @@ -113,10 +107,8 @@
editable="true"/>
<Condition ID="is_mission_aborted"
editable="true"/>
<Condition ID="is_pipeline_found"
editable="true"/>
<Condition ID="is_pipeline_inspected"
editable="true"/>
<Condition ID="is_pipeline_found"/>
<Condition ID="is_pipeline_inspected"/>
<Action ID="recharge"/>
<Action ID="search_pipeline"
editable="true"/>
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