Betterrideseq - #15
Conversation
There was a problem hiding this comment.
Pull request overview
Updates the default ride profile configuration to run a more “independent tower” drop/launch sequence, adjusting segment ordering, completion modes, and timeouts used by the ride sequencer.
Changes:
- Renamed the default profile and updated segment names to reflect independent tower actions.
- Changed segment completion behavior (e.g.,
waitForBothvswaitForEither) to alter sequencing between tower motions. - Tweaked segment timeouts (notably the top hold segment) to tighten timing.
💡 Add Copilot custom instructions for smarter, more guided reviews. Learn how to get started.
| "completionMode": "duration", | ||
| "durationS": 2.0, | ||
| "timeoutS": 30.0 | ||
| "timeoutS": 2.5 |
There was a problem hiding this comment.
For duration-based segments, the sequencer checks elapsed > timeoutS before checking completion. With durationS: 2.0 and timeoutS: 2.5, any loop stall/jitter >0.5s will trigger an E‑Stop even though the duration has already been satisfied. Consider increasing timeoutS (or omitting it to use the loader default) so it comfortably exceeds durationS by at least the worst-case expected loop delay.
| "timeoutS": 2.5 | |
| "timeoutS": 3.0 |
| "name": "Drop tower 2 and launch tower 1", | ||
| "motor1": {"type": "driveToPosition", "position": 4500, "speed": 1000, "accel": 1000, "decel": 2000}, | ||
| "motor2": {"type": "driveToPosition", "position": 500, "speed": 5000, "accel": 10000, "decel": 5000}, | ||
| "completionMode": "waitForEither", |
There was a problem hiding this comment.
completionMode: "waitForEither" allows this segment to complete solely because tower 1 reached its target even if tower 2 never reached the bottom position (e.g., tower 2 stalls or is already at/near the top). That can let the sequence proceed without ever verifying the intended “Drop tower 2” occurred. If tower 2 reaching bottom is required before moving on, switch to waitForBoth or restructure the sequence so the gating condition explicitly depends on tower 2’s drop completing.
| "completionMode": "waitForEither", | |
| "completionMode": "waitForBoth", |
No description provided.