vee
83 lines
2.8 KiB
YAML
83 lines
2.8 KiB
YAML
id: dynamic_cradle
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name: 动态摇篮模式
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aliases:
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- 动态摇篮
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- 摇篮模式
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- cradle
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- dynamic cradle
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description: >-
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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
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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。
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icon: waves
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scope:
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vehicle_ids:
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- denza_n7
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timeline:
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repeat: until_stopped_or_timeout
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max_runtime_ms: 600000
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entry:
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id: step1
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name: 起始位置
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transition: all_targets_reached
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timeout_ms: 30000
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targets:
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longitudinal: {value: 172, unit: mm, hall_pulse: 391}
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cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
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backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
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legrest_height: {value: 45, unit: degree, hall_pulse: 404}
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phases:
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- id: forward
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name: Step 2 向前收拢
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completion: all_targets_reached
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timeout_ms: 30000
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transition: synchronized_target_rendezvous
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targets:
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longitudinal: {value: 110, unit: mm, hall_pulse: 246}
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cushion_tilt: {value: 75, unit: percent, hall_pulse: 281}
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backrest_recline: {value: 52, unit: degree_from_upright, hall_pulse: 701}
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legrest_height: {value: 55, unit: degree, hall_pulse: 494}
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effects:
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body_motion: {metaphor: cradle_rise, easing: smooth}
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motion:
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synchronized_start: true
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synchronized_arrival: true
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continuous_four_axis_cruise: true
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cruise_duty_percent:
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longitudinal: 50
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cushion_tilt: 50
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backrest_recline: 90
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legrest_height: 50
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final_approach_hall_pulses: 12
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final_duty_percent: 50
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- id: return
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name: Step 3 向后回复
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completion: all_targets_reached
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timeout_ms: 30000
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transition: synchronized_target_rendezvous
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targets:
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longitudinal: {value: 172, unit: mm, hall_pulse: 391}
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cushion_tilt: {value: 37.5, unit: percent, hall_pulse: 140}
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backrest_recline: {value: 30, unit: degree_from_upright, hall_pulse: 405}
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legrest_height: {value: 45, unit: degree, hall_pulse: 404}
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effects:
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body_motion: {metaphor: cradle_sink, easing: smooth}
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motion:
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synchronized_start: true
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synchronized_arrival: true
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continuous_four_axis_cruise: true
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cruise_duty_percent:
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longitudinal: 50
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cushion_tilt: 50
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backrest_recline: 90
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legrest_height: 50
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final_approach_hall_pulses: 12
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final_duty_percent: 50
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operations:
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- domain: seat
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capability: seat.start_dynamic_mode
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target_scope: passenger
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operation: set
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parameters:
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mode_id: 2
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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。
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