完善原地自转控制逻辑并加入纵向速度死区与实验绘图改进

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-07 13:00:56 +08:00
parent f8881bc243
commit 14ca1150e4
12 changed files with 971 additions and 70 deletions
@@ -330,17 +330,17 @@ namespace MultiWheelC
        /// <summary>
        /// 获取或设置直线与等曲率转弯之间的曲率过渡长度，单位为m。
        /// </summary>
-        public double CurvatureTransitionLengthMeters = 0.60;
+        public double CurvatureTransitionLengthMeters = 0.70;

        /// <summary>
        /// 获取或设置两段直线的最大参考速度，单位为m/s。
        /// </summary>
-        public double StraightMaximumSpeedMetersPerSecond = 0.30;
+        public double StraightMaximumSpeedMetersPerSecond = 0.40;

        /// <summary>
        /// 获取或设置半圆段的最大参考速度，单位为m/s。
        /// </summary>
-        public double SemicircleMaximumSpeedMetersPerSecond = 0.25;
+        public double SemicircleMaximumSpeedMetersPerSecond = 0.30;

        /// <summary>
        /// 获取或设置参考速度加速度，单位为m/s²。