First_Dev_Dept/ParkingRobot
10
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

增加差速电机前馈与控制器曲率预瞄

Browse Source
This commit is contained in:
yuxiang.shen
2026-08-12 11:19:01 +08:00
parent 3043febd91
commit 6c6149c8d5
24 changed files with 366 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MedullaAdapter/WheelSpeedDiagnosticLogger.cs
+14
View File
@@ -84,7 +84,10 @@ namespace MedullaAdapter
_snapshotWriter.WriteLine(
"ElapsedMs,CarNum,ManualControlMode,ManualMode,SendThresSpeed," +
"DiffSteerKp,DiffSteerKi,DiffSteerKd,DiffSteerMaxI,DiffSteerDeadZone,DiffSteerThresh,DiffSteerSpeedAcc," +
"DiffSteerRateFeedforwardGain,DiffSteerWheelDistanceMillimeters,DiffSteerRateFeedforwardMaximumSpeed," +
"PidOutLeftFront,PidOutLeftRear,PidOutRightFront,PidOutRightRear," +
"RateFeedforwardLeftFront,RateFeedforwardLeftRear,RateFeedforwardRightFront,RateFeedforwardRightRear," +
"TotalDiffLeftFront,TotalDiffLeftRear,TotalDiffRightFront,TotalDiffRightRear," +
"CmdLFL,CmdLFR,CmdLRL,CmdLRR,CmdRFL,CmdRFR,CmdRRL,CmdRRR," +
"PidLFL,PidLFR,PidLRL,PidLRR,PidRFL,PidRFR,PidRRL,PidRRR," +
"ActualLFL,ActualLFR,ActualLRL,ActualLRR,ActualRFL,ActualRFR,ActualRRL,ActualRRR," +
@@ -217,10 +220,21 @@ namespace MedullaAdapter
Format(cart.DiffSteerDeadZone),
Format(cart.DiffSteerThresh),
Format(cart.DiffSteerSpeedAcc),
Format(cart.DiffSteerRateFeedforwardGain),
Format(cart.DiffSteerWheelDistanceMillimeters),
Format(cart.DiffSteerRateFeedforwardMaximumSpeed),
Format(cart.DiffSteerOutputLeftFront),
Format(cart.DiffSteerOutputLeftRear),
Format(cart.DiffSteerOutputRightFront),
Format(cart.DiffSteerOutputRightRear),
Format(cart.DiffSteerRateFeedforwardLeftFront),
Format(cart.DiffSteerRateFeedforwardLeftRear),
Format(cart.DiffSteerRateFeedforwardRightFront),
Format(cart.DiffSteerRateFeedforwardRightRear),
Format(cart.DiffSteerTotalOutputLeftFront),
Format(cart.DiffSteerTotalOutputLeftRear),
Format(cart.DiffSteerTotalOutputRightFront),
Format(cart.DiffSteerTotalOutputRightRear),
Format(cart.SpeedLeftFrontLeft),
Format(cart.SpeedLeftFrontRight),
Format(cart.SpeedLeftRearLeft),