ZPattern Task

Description

Publishes

• EndFlags
• EventFlags

Subscribes

• StartFlags
• NAV_DEPTH
• NAV_PITCH

Configuration Block

• Common Task Parameters

• Thrust

  • Syntax: Thrust = Thrust[0-100]
  • Meaning: Set Thrust of pattern operation
  • Example: Thrust = 10 go at ten percent throttle.

• PATTERN

  • Syntax: Pattern =
    • Square
    • Yoyo
  • Meaning: Set type of pattern
    • Yoyo oscillate between bounding depths. As soon as one depth is reached head for the other
    • Square oscillate between bounding depths. Keep each depth for a specified period of time
  • Example: Pattern = Yoyo execute the yoyo pattern

• TOLERANCE

  • Syntax: TOLERANCE = depth
  • Meaning: Set tolerance on depth control
  • Example: TOLERANCE = 2 Depth change is succesful when within 2m of target depth.

• LEVELTIME

  • Syntax: LEVELTIME = Time (s)
  • Meaning: set time to remain at depth if using Square. Ignored otherwise
  • Example: LEVELTIME = 60 stay at each depth for 60 seconds.

• MaxDepth and MinDepth

  • Syntax: MaxDepth/MinDepth = Depth (m)
  • Meaning: set maximum and minimum bounding depths to oscillate between
  • Example: MaxDepth = 60 greates depth will be 60m.

Example Block

//do a vertical pattern
Task = ZPattern
{
	Name 		= zigzag
	Priority 	= 3
	InitialState 	= OFF
	TimeOut 	= NEVER
	StartFlag 	= MissionStart
	MaxDepth 	= 4
	MinDepth 	= 3
	Pattern		= Square
	LevelTime	= 60
}




The MOOS ©  P. Newman 2001-2002