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添加直线-半圆组合轨迹测试并调优Stanley参数与夹臂限位类型

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Co-authored-by: Cursor <cursoragent@cursor.com>
This commit is contained in:
yuxiang.shen
2026-08-06 17:54:09 +08:00
co-authored by Cursor
parent 19b1e49189
commit f8881bc243
5 changed files with 730 additions and 7 deletions
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MultiWheelC/PilotDefinition.cs
+4 -4
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@@ -33,10 +33,10 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
[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;
[AsLowerIO(desc = "左夹臂低限位")] public int LeftArmLowerPos;
[AsLowerIO(desc = "左夹臂高限位")] public int LeftArmUpperPos;
[AsLowerIO(desc = "右夹臂低限位")] public int RightArmLowerPos;
[AsLowerIO(desc = "右夹臂高限位")] public int 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;