update

2026-07-21 11:11:01 +08:00
commit a420e9ae74
124 changed files with 16517 additions and 0 deletions
@@ -0,0 +1,47 @@
+using System;
+using System.Collections.Generic;
+using System.Text;
+using CartActivator;
+using MDCSToolBox.Medulla.Chassis.MultiWheel;
+
+namespace MedullaAdapter
+{
+    public class Remote:MultiWheelRemote<DiverCartDefinition>
+    {
+        [AsControlItem(name = "夹抱速度", LayoutRow = 0, LayoutCol = 4)]
+        public Throttle ArmSpeed;
+
+        [AsControlItem(name = "夹抱打开", LayoutRow = 1, LayoutCol = 0)]
+        public Button Open;
+
+        [AsControlItem(name = "夹抱关闭", LayoutRow = 1, LayoutCol = 2)]
+        public Button Close;
+
+        public override void MultiVehicleModeChassisLogic()
+        {
+            // cart.MultiVehicleRemoteManualEnabled = true;
+            // cart.MultiVehicleManualEnabled = true;
+            // cart.MultiVehicleManualVx = SpeedPad.y * SpeedThreshold.val;
+            // cart.MultiVehicleManualVth = -(float)Math.Pow(Math.Abs(SpeedPad.x), cart.ManualThetaPow) * Math.Sign(SpeedPad.x);
+        }
+
+        public override void CustomOperation()
+        {
+            if (Open.pressed)
+            {
+                cart.SpeedLeftArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
+                cart.SpeedRightArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
+            }
+            else if (Close.pressed)
+            {
+                cart.SpeedLeftArm = ArmSpeed.val * cart.ManualArmSpeedFac;
+                cart.SpeedRightArm = ArmSpeed.val * cart.ManualArmSpeedFac;
+            }
+            else
+            {
+                cart.SpeedLeftArm = 0;
+                cart.SpeedRightArm = 0;
+            }
+        }
+    }
+}