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优化差速转舵并增加纵向辨识测试

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yuxiang.shen
2026-08-27 12:39:22 +08:00
parent 17092c2766
commit 1c5181b327
24 changed files with 1748 additions and 266 deletions
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MedullaAdapter/WheelSpeedDiagnosticLogger.cs
+39 -1
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@@ -92,10 +92,17 @@ namespace MedullaAdapter
"VoltageV,AlarmLevel,ChassisMode,WheelAbleState," +
"DiffSteerKp,DiffSteerKi,DiffSteerKd,DiffSteerMaxI,DiffSteerDeadZone,DiffSteerThresh,DiffSteerSpeedAcc," +
"DiffSteerRateFeedforwardGain,DiffSteerWheelDistanceMillimeters,DiffSteerRateFeedforwardMaximumSpeed," +
"FeedforwardDeltaTimeMs," +
"EnableDiffSteerSettlingHysteresis,DiffSteerStopErrorDegrees,DiffSteerRestartErrorDegrees,DiffSteerSettlingCycles," +
"EnableDiffSteerInverseFeedforward,DiffSteerPlantGain,DiffSteerInverseFeedforwardTimeConstantSeconds," +
"FeedforwardDeltaTimeMs,DiffSteerDeltaTimeSeconds," +
"TargetRateThLeftFrontDegreesPerSecond,TargetRateThLeftRearDegreesPerSecond," +
"TargetRateThRightFrontDegreesPerSecond,TargetRateThRightRearDegreesPerSecond," +
"InverseFeedforwardRawLeftFront,InverseFeedforwardRawLeftRear,InverseFeedforwardRawRightFront,InverseFeedforwardRawRightRear," +
"InverseFeedforwardFilteredLeftFront,InverseFeedforwardFilteredLeftRear,InverseFeedforwardFilteredRightFront,InverseFeedforwardFilteredRightRear," +
"FeedforwardLimitedLeftFront,FeedforwardLimitedLeftRear,FeedforwardLimitedRightFront,FeedforwardLimitedRightRear," +
"InStopZoneLeftFront,InStopZoneLeftRear,InStopZoneRightFront,InStopZoneRightRear," +
"SettlingCountLeftFront,SettlingCountLeftRear,SettlingCountRightFront,SettlingCountRightRear," +
"SettledLeftFront,SettledLeftRear,SettledRightFront,SettledRightRear," +
"PidOutLeftFront,PidOutLeftRear,PidOutRightFront,PidOutRightRear," +
"RateFeedforwardLeftFront,RateFeedforwardLeftRear,RateFeedforwardRightFront,RateFeedforwardRightRear," +
"TotalDiffLeftFront,TotalDiffLeftRear,TotalDiffRightFront,TotalDiffRightRear," +
@@ -352,15 +359,46 @@ namespace MedullaAdapter
Format(cart.DiffSteerRateFeedforwardGain),
Format(cart.DiffSteerWheelDistanceMillimeters),
Format(cart.DiffSteerRateFeedforwardMaximumSpeed),
FormatBoolean(cart.EnableDiffSteerSettlingHysteresis),
Format(cart.DiffSteerStopErrorDegrees),
Format(cart.DiffSteerRestartErrorDegrees),
Format(cart.DiffSteerSettlingCycles),
FormatBoolean(cart.EnableDiffSteerInverseFeedforward),
Format(cart.DiffSteerPlantGain),
Format(
cart.DiffSteerInverseFeedforwardTimeConstantSeconds),
Format(cart.DiffSteerFeedforwardDeltaTimeMilliseconds),
Format(
cart.DiffSteerFeedforwardDeltaTimeMilliseconds /
1000f),
Format(cart.DiffSteerTargetRateLeftFrontDegreesPerSecond),
Format(cart.DiffSteerTargetRateLeftRearDegreesPerSecond),
Format(cart.DiffSteerTargetRateRightFrontDegreesPerSecond),
Format(cart.DiffSteerTargetRateRightRearDegreesPerSecond),
Format(cart.DiffSteerInverseFeedforwardRawLeftFront),
Format(cart.DiffSteerInverseFeedforwardRawLeftRear),
Format(cart.DiffSteerInverseFeedforwardRawRightFront),
Format(cart.DiffSteerInverseFeedforwardRawRightRear),
Format(cart.DiffSteerInverseFeedforwardFilteredLeftFront),
Format(cart.DiffSteerInverseFeedforwardFilteredLeftRear),
Format(cart.DiffSteerInverseFeedforwardFilteredRightFront),
Format(cart.DiffSteerInverseFeedforwardFilteredRightRear),
FormatBoolean(cart.DiffSteerFeedforwardLimitedLeftFront),
FormatBoolean(cart.DiffSteerFeedforwardLimitedLeftRear),
FormatBoolean(cart.DiffSteerFeedforwardLimitedRightFront),
FormatBoolean(cart.DiffSteerFeedforwardLimitedRightRear),
FormatBoolean(cart.DiffSteerInStopZoneLeftFront),
FormatBoolean(cart.DiffSteerInStopZoneLeftRear),
FormatBoolean(cart.DiffSteerInStopZoneRightFront),
FormatBoolean(cart.DiffSteerInStopZoneRightRear),
Format(cart.DiffSteerSettlingCountLeftFront),
Format(cart.DiffSteerSettlingCountLeftRear),
Format(cart.DiffSteerSettlingCountRightFront),
Format(cart.DiffSteerSettlingCountRightRear),
FormatBoolean(cart.DiffSteerSettledLeftFront),
FormatBoolean(cart.DiffSteerSettledLeftRear),
FormatBoolean(cart.DiffSteerSettledRightFront),
FormatBoolean(cart.DiffSteerSettledRightRear),
Format(cart.DiffSteerOutputLeftFront),
Format(cart.DiffSteerOutputLeftRear),
Format(cart.DiffSteerOutputRightFront),