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添加单车底盘仿真平台并完善运动控制与夹臂功能

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yuxiang.shen
2026-07-27 17:47:50 +08:00
parent 580a936a83
commit e6b99c45b3
47 changed files with 4238 additions and 122 deletions
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ClumsyPilot/PilotDefinition.cs
+30
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@@ -11,4 +11,34 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
public new float CarWidth = 948f;
[AsLowerIO(desc = "车号")] public int CarNum = 1;
public override void StandardInit() { }
#region 夹臂变量
[AsUpperIO(desc = "左夹臂下发速度")] public float SpeedLeftArm;
[AsUpperIO(desc = "右夹臂下发速度")] public float SpeedRightArm;
[AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
[AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
[AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync = false;
#endregion
[AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
[AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
[AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
[AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
[AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
[AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
[AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
[AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
[AsLowerIO(desc = "左夹臂低限位")] public float LeftArmLowerPos;
[AsLowerIO(desc = "左夹臂高限位")] public float LeftArmUpperPos;
[AsLowerIO(desc = "右夹臂低限位")] public float RightArmLowerPos;
[AsLowerIO(desc = "右夹臂高限位")] public float RightArmUpperPos;
[AsUpperIO(desc = "从C往驱动器下使能")] public bool DisableFromC = false;
[AsUpperIO(desc = "从C上复位")] public bool ResetFromC = false;
[AsLowerIO(desc = "驱动轮使能状态")] public bool WheelAbleState = true;
}