新增倒车以及项目结构优化

MultiWheelC/Experiments/RotationTests.cs

@@ -10,7 +10,6 @@ using ClumsyCore.Pilot;
 using FundamentalLib;
 using MDCSToolBox.Clumsy.Movements;
 using MDCSToolBox.Clumsy.Pilot;
-using MDCSToolBox.Commons.Controllers;
 using MyParking.Shared;
 
 namespace MultiWheelC
@@ -109,29 +108,6 @@ namespace MultiWheelC
                     {
                         // MultiWheelRotateInPlace接收世界坐标系绝对航向。
                         AngleTarget = targetWorldAngle,
-                        PidparamsRead = () => new PIDParams
-                        {
-                            Kp =
-                                config.InPlaceRotateKp,
-                            Ki =
-                                config.InPlaceRotateKi,
-                            Kd =
-                                config.InPlaceRotateKd,
-                            DeadZone =
-                                config.InPlaceRotateArriveDeg,
-                            SpeedAccPerSec =
-                                config.InPlaceRotateAcc,
-                            OutputUpperThreshold =
-                                config.InPlaceRotateMaxSpeed,
-                            MaxI =
-                                config.InPlaceRotateMaxI
-                        },
-                        MinimumAngularSpeedDegreesPerSecond =
-                            config.InPlaceRotateMinimumSpeed,
-                        WheelAlignmentToleranceDegrees =
-                            config.InPlaceRotateWheelAlignDeg,
-                        RotationTimeoutSeconds =
-                            config.InPlaceRotateTimeoutSec,
                         CommandAngularSpeedObserver =
                             commandAngularSpeed =>
                                 _recorder?.UpdateCommand(