优化轨迹制动与轮速反馈并补充实验记录和中英文说明
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@@ -16,8 +16,8 @@ The current work remains focused on the **single robot** and is in chassis integ
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| Stage | Current status | Notes |
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| --- | --- | --- |
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| 1. Basic single-robot functions | Integration in progress | Motion control, MCU communication, wheel feedback, emergency-stop I/O, battery, lights, remote control, and diagnostics are connected in code; physical validation is ongoing |
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| 2. Add parking functions | Partially started | Clamp control, limits, alarms, and test entries exist; tire recognition, vehicle entry, and the complete parking workflow are not implemented |
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| 3. Improve tracking | Started | Straight, arc, S-curve, and crab tests, experiment CSV recording, and Python plotting tools are available |
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| 2. Add parking functions | Partially started | Clamp control, limits, and alarms are connected; the clamp movement tests are currently commented out, while tire recognition, vehicle entry, and the complete parking workflow are not implemented |
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| 3. Improve tracking | Started | Legacy `SendMotion` tests remain, with new Stanley lateral + PID longitudinal control, composite motion plans, experiment CSVs, and a new plotting tool |
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| 4. Multi-robot scenarios | Deferred | Multi-robot R&D settings are excluded from the build, and the current version provides no fleet coordination |
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## Overview
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@@ -41,7 +41,8 @@ No ROS/ROS 2, Docker, or Web simulator project is present. The plugins are loade
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| Single-robot motion | Straight, arc, and S-curve paths; forward, crab, and in-place rotation |
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| Chassis commands | `SendMotion`, `SendXYThSpeed`, and a virtual-Ackermann test backend |
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| Mode switching | Normal, crab, and spin modes; stop, pre-steer, and wait for wheel alignment before motion |
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| Tracking | Destination tracking, line tracking, Detour-based line tracking, and crab motion-frame tracking |
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| Tracking | Legacy destination, line, and crab tracking; new Stanley lateral control, PID longitudinal control, front/rear GCP allocation, path-deviation protection, and terminal-state checks |
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| State estimation | Detour pose and differentiated velocity; new experiments can retain the Detour pose while replacing its differentiated longitudinal velocity with a low-pass-filtered body velocity derived from steer-wheel feedback |
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| Clamp | Left/right speed commands, position feedback, soft limits, driver alarms, physical/virtual remote control, and target-position actions |
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| MCU communication | Bridge open/reset, version/state queries, digital I/O, synchronous serial/CAN access, and asynchronous callbacks |
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| Drive and feedback | Commands and speed/position/steering feedback for eight drive motors and four steer modules, plus remote-frame state |
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@@ -99,7 +100,9 @@ MyParking/
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│ └── commonusage/ # CommonUsage chassis-library source
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├── ref/ # Generated CommonUsage.dll (do not overwrite by hand)
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├── data_process/
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│ ├── 轨迹测试处理/ # Trajectory comparison, error, speed, and yaw plots
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│ ├── plot_new_controller_experiment.py # Six-panel plots for new-controller trials
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│ ├── 新版控制器轨迹测试处理/ # Python dependencies for the new plotting tool
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│ ├── 旧版控制器轨迹测试处理/ # Legacy trajectory, error, and response plots
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│ └── 电机响应处理/ # Steering-response snapshot analysis
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├── docs/
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│ ├── SteeringConstraintDesign.md # Steering-limit design notes
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@@ -186,7 +189,7 @@ MCU defaults confirmed from the current source:
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| CAN | One channel at `500000 bit/s`, with a `10 ms` retry time |
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| Serial | Three channels at `9600 bit/s`, with a `10 ms` receive-frame time |
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| Battery port index | `3` |
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| Maximum spin rate | `30 deg/s` |
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| Maximum remote-control spin rate | `30 deg/s` |
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| Wheel-speed diagnostic directory | `logs\wheel-speed` |
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`docs/chassis参考.json` is a chassis-parameter example. No automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
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@@ -195,20 +198,20 @@ Before physical testing, verify the port, vehicle ID, steering zero and limits,
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## Single-Robot Test Entries
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`MultiWheelC/MovementTests.cs` currently registers:
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`MultiWheelC/Experiments` currently enables these host test entries:
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- `准备：四个舵轮与车头方向一致`
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- `SendMotion：连续前进4m`
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- `SendXYThSpeed：原地自转90°`
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- `SendXYThSpeed：原地自转180°`
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- `SendXYThSpeed：输入角度原地自转`
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- `SendMotion：左转90°半径2m圆弧`
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- `SendMotion：蟹行直线4m`
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- `SendMotion：蟹行左转90°半径2m圆弧`
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- `SendMotion：4m S型曲线`
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- `夹臂关闭测试`
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- `夹臂启动测试`
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- `新版控制器：4m直线轨迹跟踪`
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- `新版控制器：直线-左半圆-直线轨迹跟踪`
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- `新版控制器：直线-圆弧-折线组合测试`
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These are run through the Clumsy host's test interface and are not an automated `dotnet test` suite. Motion tests record the experiment number, reference path, Detour pose, and control commands according to their configuration.
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These are run through the Clumsy host's test interface and are not an automated `dotnet test` suite. Motion tests record the experiment number, reference path, Detour pose, wheel-derived velocity, and control commands according to their configuration. The clamp tests in `MultiWheelC/Experiments/ClampTests.cs` are currently commented out in full and are not registered with the host.
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## Experiment Data Analysis
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@@ -224,14 +227,23 @@ Medulla wheel-speed diagnostics can be controlled with the `StartWheelSpeedDiagn
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logs/wheel-speed/
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```
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### Trajectory processing
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### New-controller trajectory processing
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```powershell
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python -m pip install -r data_process\轨迹测试处理\requirements.txt
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python data_process\轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
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python -m pip install -r data_process\新版控制器轨迹测试处理\requirements.txt
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python data_process\plot_new_controller_experiment.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
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```
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The default resampling frequency is `20 Hz`, and the default filter window is `0.55 s`; use `--frequency` and `--window` to change them.
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This tool creates one six-panel summary for each new-controller CSV, covering the path, lateral/heading errors, speed, and front/rear GCP and four-wheel steering angles. When no CSV is passed, it scans only the `data_process` root and its `data` subdirectory.
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### Legacy-controller trajectory processing
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```powershell
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python -m pip install -r data_process\旧版控制器轨迹测试处理\requirements.txt
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python data_process\旧版控制器轨迹测试处理\run_all_plots.py "path\trial1.csv" "path\trial2.csv" --output-dir "path\plots"
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```
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The legacy tool defaults to `20 Hz` resampling and a `0.55 s` filter window; use `--frequency` and `--window` to change them.
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### Steering-response processing
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