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
@@ -504,13 +504,26 @@ namespace MyParking.Shared
        /// 返回是否成功生成舵轮目标。
        /// </summary>
        public bool PrepareSpin(
-            TimeSpan? interval = null)
+            TimeSpan? interval = null,
+            double alignmentToleranceDegrees = 2.0)
        {
+            ValidateFinite(
+                alignmentToleranceDegrees,
+                nameof(alignmentToleranceDegrees));
+
+            if (alignmentToleranceDegrees < 0.0)
+            {
+                throw new ArgumentOutOfRangeException(
+                    nameof(alignmentToleranceDegrees),
+                    "自转舵轮到位容差必须是非负有限值。");
+            }
+
            EnsureBodyFrameIsActive();

            var success =
                _chassis.PrepareRotateWheels(
-                    alignmentToleranceDegrees: 2.0f);
+                    alignmentToleranceDegrees:
+                        (float)alignmentToleranceDegrees);

            if (!success)
            {