'''Config''' Settings from final night of San Diego pool testing

Author: jlisee

data/config/ai/sd_pool_ai.yml

@@ -1,19 +1,20 @@
-taskOrder: ['ram.ai.course.Gate'] #, 'ram.ai.course.PipeGate',
-#            'ram.ai.course.Light', 'ram.ai.course.Pipe1',
-#            'ram.ai.course.BarbedWire', 'ram.ai.course.PipeBarbedWire',
-#            'ram.ai.course.Bin', 'ram.ai.course.Pipe2',
-#            'ram.ai.course.Target', 'ram.ai.course.Pinger',
-#            'ram.ai.course.SafeSonar', 'ram.ai.course.Octagon']
+taskOrder: ['ram.ai.course.Gate', 'ram.ai.course.PipeGate',
+            'ram.ai.course.Light', 'ram.ai.course.Pipe1',
+            'ram.ai.course.BarbedWire', 'ram.ai.course.PipeBarbedWire',
+            'ram.ai.course.Bin', 
+'ram.ai.course.RandomBin', 'ram.ai.course.Pipe2',
+            'ram.ai.course.Target', 'ram.ai.course.Pinger',
+            'ram.ai.course.SafeSonar', 'ram.ai.course.Octagon']
 
 config:
     gateDepth: 1.7
     lightDepth: 6
     pipeDepth: 0.5
     bwireDepth: 11.3
     targetDepth: 0.7
-    binStartDepth: 1
-    binDepth: 2.25
-    targetSymbols: ['Aircraft', 'Factory']
+    binStartDepth: 1.2
+    binDepth: 2.6
+    targetSymbols: ['Heart', 'Spade']
     sonarDepth: 15
     safeDepth: 10
     safeOffset: -0.4
@@ -40,6 +41,7 @@ config:
         sweepAngle: 45
         sweepSpeed: 3
     Bin:
-        heading: 45
-    Target;
+        binDirection: 180
+        taskTimeout: 30
+    Target:
         heading: -25

data/config/ai/sd_pool_state.yml

@@ -0,0 +1,262 @@
+# Pipe
+ram.ai.course.Pipe:
+    pipesToFind: 3
+
+# Pipe task
+ram.ai.pipe.Seeking:
+    speedGain: 3
+    forwardSpeed: 3
+    yawGain: 0.25
+ram.ai.pipe.Centering:
+    speedGain: 3
+    forwardSpeed: 3
+    yawGain: 0.25
+ram.ai.pipe.AlongPipe:
+    angleDistance: 0.1
+    yawGain: 0.25
+
+
+# Light/Bouy sub task
+ram.ai.light.Searching:
+    sweepAngle: 0 #35
+    speed: 2
+ram.ai.light.Recover:
+    advanceSpeed: 2
+    reverseSpeed: 1.5
+    diveSpeed: 0.1
+ram.ai.light.Align:
+    depthGain: 0 #0.05
+    maxDepthDt: 0.30
+ram.ai.light.Seek:
+    depthGain: 0
+    speed: 2
+ram.ai.light.Hit:
+    duration: 2
+    speed: 2.5
+ram.ai.light.Continue:
+    backwardDuration: 0
+    forwardDuration: 5
+# Duct Sub task
+ram.ai.duct.SeekingToRange:
+    filterSize: 10
+    desiredRange: 0.5
+ram.ai.duct.SeekingToAligned:
+    filterSize: 10
+    desiredRange: 0.5
+ram.ai.duct.Aligning:
+    filterSize: 10
+    desiredRange: 0.5
+
+# Target Task
+ram.ai.target.SeekingToCentered:
+    depthGain: 0
+    maxSpeed: 3
+    maxRangeDiff: 0.3
+ram.ai.target.SeekingToRange:
+    depthGain: 0 #0.125
+    maxSpeed: 1.5
+    maxRangeDiff: 0.3
+ram.ai.target.SeekingToAligned:
+    depthGain: 0 #0.125
+    minSquareNess: 0.97
+    alignGain: 2
+    filterSize: 1
+    desiredRange: 0.45
+ram.ai.target.FireTorpedos:
+    depthGain: 0 #0.125
+    frontThreshold: 0.15
+    desiredRange: 0.35
+    rangeThreshold: 0.03
+    filterSize: 1
+    fireDelay: 2
+       
+# Barbed wire AI     
+ram.ai.barbedwire.FarSeekingToRange:
+    depthGain: 0 #0.1
+    maxDepthDt: 0.3
+    desiredRange: 0.55
+    translateGain: 2.5
+    maxSpeed: 3
+    maxRangeDiff: 0.5
+    rangeGain: 2.5
+    rangeThreshold: 0.15
+ram.ai.barbedwire.FarSeekingToAligned:
+    depthGain: 0 #0.1
+    maxDepthDt: 0.3
+    alignGain: 20
+    minAlignment: 0.25
+    maxSidewaysSpeed: 1.0
+    maxSpeed: 5
+    maxRangeDiff: 0.5
+    rangeGain: 5
+    desiredRange: 0.5
+    rangeThreshold: 0.15
+ram.ai.barbedwire.CloseSeekingToRange:
+    depthGain: 0 #0.1
+    maxDepthDt: 0.3
+    desiredRange: 0.45
+    translateGain: 2.5
+    maxSpeed: 3
+    maxRangeDiff: 0.5
+    rangeGain: 2.5
+ram.ai.barbedwire.CloseSeekingToAligned:
+    depthGain: 0 #0.1
+    maxDepthDt: 0.3
+    alignGain: 20
+    minAlignment: 0.1
+    maxSidewaysSpeed: 1.0
+    maxSpeed: 5
+    maxRangeDiff: 0.5
+    rangeGain: 5
+    desiredRange: 0.4
+    rangeThreshold: 0.1
+ram.ai.barbedwire.Aligning:
+    depthGain: 0 #0.125
+    maxDepthDt: 0.3
+    alignGain: 10
+    maxSidewaysSpeed: 2.0
+    desiredRange: 0.35
+ram.ai.barbedwire.Under:
+    sidewaysSpeedGain: 3
+ram.ai.barbedwire.Through:
+    forwardTime: 7
+
+# Bin Sub task
+ram.ai.bin.Seeking:
+    yawGain: 0
+    speedGain: 4
+    maxSpeed: 3
+    sidewaysSpeedGain: 4
+    maxSidewaysSpeed: 3
+    centeredLimit: 0.25
+ram.ai.bin.Centering:
+    yawGain: 0.4
+    yawGain: 0
+    sidewaysSpeedGain: 1
+    speedGain: 1
+ram.ai.bin.SeekEnd:
+    #maxSpeed: 2
+    yawGain: 0
+    speedGain: 7
+    sidewaysSpeedGain: 7
+    #maxSidewaysSpeed: 1.5
+ram.ai.bin.NextBin:
+    yawGain: 0
+    speedGain: 3
+    maxSpeed: 2.5
+    sidewaysSpeedGain: 4
+    maxSidewaysSpeed: 2.5
+    centeredRange: 0.25
+ram.ai.bin.SurfaceToMove:
+    yawGain: 0
+    offset: 1.5
+ram.ai.bin.Dive:
+    offset: 1.5
+    yawGain: 0.4
+    yawGain: 0
+    speedGain: 1
+    sidewaysSpeedGain: 1
+ram.ai.bin.Aligning:
+    yawGain: 0
+    speedGain: 4
+    dSpeedGain: 1.0
+    iSpeedGain: 0.5
+    sidewaysSpeedGain: 4
+    dSidewaysSpeedGain: 1.0
+    iSidewaysSpeedGain: 0.5
+ram.ai.bin.PreDiveExamine:
+    yawGain: 0
+    speedGain: 4
+    dSpeedGain: 1.0
+    iSpeedGain: 0.5
+    sidewaysSpeedGain: 4
+    dSidewaysSpeedGain: 1.0
+    iSidewaysSpeedGain: 0.5
+ram.ai.bin.PostDiveExamine:
+    yawGain: 0
+    speedGain: 5
+    dSpeedGain: 1.5
+    iSpeedGain: 0.5
+    sidewaysSpeedGain: 8
+    dSidewaysSpeedGain: 1.5
+    iSidewaysSpeedGain: 0.5
+ram.ai.bin.CloserLook:
+    # This sets the depths the markers will be dropped
+    yawGain: 0
+    offset: 1.3
+ram.ai.bin.RecoverDive:
+    increase: 0
+ram.ai.bin.RecoverCloserLook:
+    increase: 0
+ram.ai.bin.RecoverNextBin:
+    timeout: 5
+    speed: 1
+
+# Sonar subtask
+ram.ai.sonar.CloseSeeking:
+    maxSidewaysSpeed: 1.5
+    sidewaysSpeedGain: 5
+    maxSpeed: 1.5
+    speedGain: 5
+    closeZ: 0.975
+ram.ai.sonar.FarSeeking:
+    maxSidewaysSpeed: 4
+    sidewaysSpeedGain: 5
+    maxSpeed: 4
+    speedGain: 5
+    midRangeZ: 0.8
+ram.ai.sonar.Hovering:
+    maxSidewaysSpeed: 1
+    sidewaysSpeedGain: 2
+    maxSpeed: 1
+    speedGain: 2
+
+# Vision Safe subtask
+ram.ai.safe.Seeking:
+    sidewaysSpeedGain: 4
+    maxSidewaysSpeed: 2
+ram.ai.safe.PreGrabDive:
+    diveRate: 0.3
+ram.ai.safe.Offsetting:
+    speedGain: 1.5
+    maxSpeed: 1.2
+    sidewaysSpeedGain: 1.5
+    maxSidewaysSpeed: 1.2
+    #centeredRange: 0.6
+    #sanity: YES
+ram.ai.safe.Settling:
+    speedGain: 0.7
+    maxSpeed: 1.2
+    sidewaysSpeedGain: 4
+    maxSidewaysSpeed: 1.5
+    duration: 5
+
+# SONAR & Safe subtask
+ram.ai.sonarSafe.Settling:
+    maxSidewaysSpeed: 2.25
+    sidewaysSpeedGain: 2.25
+    maxSpeed: 2.25
+    speedGain: 2.25
+    duration: 5
+ram.ai.sonarSafe.Dive:
+    #Hilton Pool
+    #safeDepth: 6.5
+    depthOffset: 1
+    diveRate: 0.15
+    maxSidewaysSpeed: 2.25
+    sidewaysSpeedGain: 2.25
+    maxSpeed: 2.25
+    speedGain: 2.25
+ram.ai.sonarSafe.PreGrabSettling:
+    maxSidewaysSpeed: 3
+    sidewaysSpeedGain: 3
+    maxSpeed: 3
+    speedGain: 3
+    duration: 5
+    closeZ: 0.985
+#ram.ai.sonarSafe.Grabbing:
+    # Hilton Pool
+    #safeDepth: 6.5
+    #depthOffset: 1.5
+    #safeDepth: 19
+    #depthOffset: 1

data/config/sd_pool.yml

@@ -36,7 +36,7 @@ Subsystems:
                      "MotionManager", "TimerManager", "Ai", "VisionSystem"]
         States:
             # Includes all the state specific NBRF settings
-            INCLUDE: data/config/ai/san_diego_state.yml
+            INCLUDE: data/config/ai/sd_pool_state.yml
 
 
     # Includes all common subsystems