添加单车底盘仿真平台并完善运动控制与夹臂功能

MedullaAdapter/Remote.cs

@@ -1,15 +1,86 @@
 // Medulla虚拟遥控器和夹臂控制
 using MDCSToolBox.Medulla.Chassis.MultiWheel;
+using CartActivator;
 
 namespace MedullaAdapter
 {
     // M层单车虚拟遥控器：使用父类提供的底盘控制界面。
     public class Remote : MultiWheelRemote<DiverCartDefinition>
     {
+        // 将父类虚拟遥控器界面输入统一转发到本车的ManualControl。
+        public override void ChassisOperation()
+        {
+            if (MultiVehicleMode.on)
+            {
+                MultiVehicleModeChassisLogic();
+                statusText = "单车版本不支持多车联动遥控";
+                return;
+            }
+
+            // 当前单车适配层只定义Normal、Crab和Spin三种模式。
+            // 禁止这些旧按钮绕过适配层直接修改底盘坐标偏置。
+            if (AckermannMode.on ||
+                SwayMode.on ||
+                XYThMode.on)
+            {
+                cart.Chassis?.PredefinedDriveStop();
+                statusText = "当前单车版本暂不支持阿克曼、斜行或全向模式";
+                return;
+            }
+
+            var mode = SpinMode.on
+                ? DiverCartDefinition.ManualControlMode.Spin
+                : CrabMode.on
+                    ? DiverCartDefinition.ManualControlMode.Crab
+                    : DiverCartDefinition.ManualControlMode.Normal;
+
+            cart.ManualControl(
+                mode,
+                SpeedPad.x,
+                SpeedPad.y,
+                FrontDirection.dval * 180,
+                SpeedThreshold.val);
+
+            statusText =
+                $"{mode}, x={SpeedPad.x:0.00}, " +
+                $"y={SpeedPad.y:0.00}, " +
+                $"speed={SpeedThreshold.val:0.00}";
+        }
+        [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;
+        // M层虚拟遥控器：控制左右夹臂同步打开或关闭。
+        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;
+            }
+        }
         // 单车不支持多车联动，误打开多车开关时主动停车。
         public override void MultiVehicleModeChassisLogic()
         {
             cart.Chassis?.PredefinedDriveStop();
         }
     }
-}
+}