添加单车底盘仿真平台并完善运动控制与夹臂功能

2026-07-27 17:47:50 +08:00
parent 580a936a83
commit e6b99c45b3
47 changed files with 4238 additions and 122 deletions
@@ -0,0 +1,121 @@
+using MyParking.Simulation.Core;
+
+namespace MyParking.Simulation.Commands;
+
+/// <summary>
+/// 内置离线测试动作；新增带特性的方法后网页会自动生成按钮。
+/// </summary>
+public static class BuiltInSimulationActions
+{
+    [SimulationAction(
+        "mode-normal",
+        "正常",
+        "舵轮模式",
+        10)]
+    public static bool NormalMode(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.SetMode("Normal");
+    }
+
+    [SimulationAction(
+        "mode-crab-left",
+        "左蟹行",
+        "舵轮模式",
+        20)]
+    public static bool CrabLeftMode(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.SetMode("CrabLeft");
+    }
+
+    [SimulationAction(
+        "mode-crab-right",
+        "右蟹行",
+        "舵轮模式",
+        30)]
+    public static bool CrabRightMode(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.SetMode("CrabRight");
+    }
+
+    [SimulationAction(
+        "mode-spin",
+        "自转",
+        "舵轮模式",
+        40)]
+    public static bool SpinMode(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.SetMode("Spin");
+    }
+
+    [SimulationAction(
+        "forward",
+        "前进",
+        "运动测试",
+        10)]
+    public static bool Forward(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.Move(1.0);
+    }
+
+    [SimulationAction(
+        "turn-left",
+        "左转",
+        "运动测试",
+        20)]
+    public static bool TurnLeft(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.Turn(1.0);
+    }
+
+    [SimulationAction(
+        "stop",
+        "停止",
+        "运动测试",
+        30)]
+    public static bool Stop(
+        SimulationVehicle vehicle)
+    {
+        vehicle.Stop();
+        return true;
+    }
+
+    [SimulationAction(
+        "turn-right",
+        "右转",
+        "运动测试",
+        40)]
+    public static bool TurnRight(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.Turn(-1.0);
+    }
+
+    [SimulationAction(
+        "backward",
+        "后退",
+        "运动测试",
+        50)]
+    public static bool Backward(
+        SimulationVehicle vehicle)
+    {
+        return vehicle.Move(-1.0);
+    }
+
+    [SimulationAction(
+        "reset",
+        "单车复位",
+        "维护",
+        10)]
+    public static bool Reset(
+        SimulationVehicle vehicle)
+    {
+        vehicle.Reset();
+        return true;
+    }
+}