添加单车底盘仿真平台并完善运动控制与夹臂功能

ClumsyPilot/PilotConfig.cs

@@ -60,7 +60,7 @@ public class PilotConfig : MultiWheelPilotConfig
     #endregion
 
 
-#if false
+
 
     #region 单车-钻车与夹抱
     [FieldMember(desc = "2腿检测：雷达名（逗号分隔可多个）")]
@@ -165,10 +165,8 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "抱夹控制pid:Thresh")] public float ClampControlThresh = 0.2f;
     [FieldMember(desc = "抱夹控制pid:DeadZone")] public float ClampControlDeadZone = 5f;
     [FieldMember(desc = "抱夹最大速度")] public float MaxClampSpeed = 1.5f;
-
-
     #endregion
-
+#if false
     #region 多车-编队与遥控
     [FieldMember(desc = "联动时转向角爬升加速度")] public float SyncThAccPerSec = 30f;
     [FieldMember(desc = "两车间距 (mm)")] public float TestCarSyncDistance = 2400f;
@@ -330,24 +328,6 @@ public class PilotConfig : MultiWheelPilotConfig
 
 #endif
 
-    #region 仿真-Playground
-    [FieldMember(desc = "Playground WebAPI 基地址")]
-    public string PlaygroundWebApiUrl = "http://localhost:18090";
-
-    [FieldMember(desc = "Playground 小车名称（场景 robots[].name）")]
-    public string PlaygroundRobotName = "agv_multi_1";
-
-    [FieldMember(desc = "Playground 邻车名称（仅主车用于原地旋转位姿诊断）")]
-    public string PlaygroundNeighborRobotName = "agv_multi_2";
-
-    [FieldMember(desc = "旋转位姿诊断开关(simulation only)")]
-    public bool MultiVehicleRotatePoseWebApiDiagEnabled = false;
-    [FieldMember(desc = "WebAPI 平移测试：平移距离(mm)")]
-    public float WebApiTranslateMm = 100f;
-
-    [FieldMember(desc = "WebAPI 旋转测试：旋转角度(deg)")]
-    public float WebApiRotateDeg = 5f;
-    #endregion
 
 
 }