集中停车控制配置并完善终点逼近和周期诊断

2026-08-11 17:46:52 +08:00
parent 33a33af710
commit 3043febd91
30 changed files with 2946 additions and 30 deletions
@@ -0,0 +1,45 @@
+// using ClumsyCore;
+// using ClumsyCore.Pilot;
+// using MDCSToolBox.Clumsy.MotionControllers;
+// using MDCSToolBox.Clumsy.Movements;
+// using MDCSToolBox.Clumsy.Pilot;
+
+// namespace MultiWheelC;
+
+// public class ChassisController : MovementDefinition<MultiWheelGeometricController>
+// {
+//     public float BaseSpeed = Configuration.conf.basicSpeed;
+
+//     // 创建单车几何跟踪控制器（直接控本车底盘，不走多车 Auto 通道）
+//     public override MultiWheelGeometricController Get()
+//     {
+//         return new MultiWheelGeometricController
+//         {
+//             Chassis = BasicPilotBase.Chassis,
+//             BaseSpeed = BaseSpeed,
+//             SlowDistance = PilotDefinition.Conf.SlowDistance,
+//             SlowingPow = PilotDefinition.Conf.SlowingPow,
+//             FinishDistance = PilotDefinition.Conf.FinishDistance,
+//             FinishSpeed = PilotDefinition.Conf.FinishSpeed,
+//             FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
+//             FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
+//             FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
+//             NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
+//             DebugMode = PilotDefinition.Conf.MotionDebugPrint,
+//             DebugCurvature = PilotDefinition.Conf.DebugCurvature,
+//             PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
+//             SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
+//             SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
+//             SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
+//             SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
+//             SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
+//             MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
+//             MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
+//             GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
+//             DthLinearFac = PilotDefinition.Conf.DthLinearFac,
+//             DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
+//             BiasFac = PilotDefinition.Conf.BiasFac,
+//             BiasThreshold = PilotDefinition.Conf.BiasThreshold,
+//         };
+//     }
+// }