id: dynamic_cradle
name: 动态摇篮模式
aliases:
  - 动态摇篮
  - 摇篮模式
  - cradle
  - dynamic cradle
description: >-
  腾势 N7 固件原生位置闭环动态模式。Step 1先进入起始姿态；Step 2四轴同步启动并
  以目标会合方式到达向前收拢姿态；Step 3四轴同步启动并会合返回起点，随后持续循环。
icon: waves
scope:
  vehicle_ids:
    - denza_n7
timeline:
  repeat: until_stopped_or_timeout
  max_runtime_ms: 600000
  entry:
    id: step1
    name: 起始位置
    transition: all_targets_reached
    timeout_ms: 30000
    targets:
      longitudinal: {value: 172, unit: mm, hall_pulse: 391}
      cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
      backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
      legrest_height: {value: 45, unit: degree, hall_pulse: 404}
  phases:
    - id: forward
      name: Step 2 向前收拢
      completion: all_targets_reached
      timeout_ms: 30000
      transition: synchronized_target_rendezvous
      targets:
        longitudinal: {value: 110, unit: mm, hall_pulse: 246}
        cushion_tilt: {value: 75, unit: percent, hall_pulse: 281}
        backrest_recline: {value: 52, unit: degree_from_upright, hall_pulse: 701}
        legrest_height: {value: 55, unit: degree, hall_pulse: 494}
      effects:
        body_motion: {metaphor: cradle_rise, easing: smooth}
      motion:
        synchronized_start: true
        synchronized_arrival: true
        continuous_four_axis_cruise: true
        cruise_duty_percent:
          longitudinal: 50
          cushion_tilt: 50
          backrest_recline: 90
          legrest_height: 50
        final_approach_hall_pulses: 12
        final_duty_percent: 50
    - id: return
      name: Step 3 向后回复
      completion: all_targets_reached
      timeout_ms: 30000
      transition: synchronized_target_rendezvous
      targets:
        longitudinal: {value: 172, unit: mm, hall_pulse: 391}
        cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
        backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
        legrest_height: {value: 45, unit: degree, hall_pulse: 404}
      effects:
        body_motion: {metaphor: cradle_sink, easing: smooth}
      motion:
        synchronized_start: true
        synchronized_arrival: true
        continuous_four_axis_cruise: true
        cruise_duty_percent:
          longitudinal: 50
          cushion_tilt: 50
          backrest_recline: 90
          legrest_height: 50
        final_approach_hall_pulses: 12
        final_duty_percent: 50
operations:
  - domain: seat
    capability: seat.start_dynamic_mode
    target_scope: passenger
    operation: set
    parameters:
      mode_id: 2
    reason: 启动 IAR revision 13 四轴全程联动位置闭环动态摇篮，循环至停止指令或十分钟上限。