// using ClumsyCore;
// using ClumsyCore.Pilot;
// using MDCSToolBox.Clumsy.MotionControllers;
// using MDCSToolBox.Clumsy.Movements;
// using MDCSToolBox.Clumsy.Pilot;

// namespace MultiWheelC;

// public class ChassisController : MovementDefinition<MultiWheelGeometricController>
// {
//     public float BaseSpeed = Configuration.conf.basicSpeed;

//     // 创建单车几何跟踪控制器（直接控本车底盘，不走多车 Auto 通道）
//     public override MultiWheelGeometricController Get()
//     {
//         return new MultiWheelGeometricController
//         {
//             Chassis = BasicPilotBase.Chassis,
//             BaseSpeed = BaseSpeed,
//             SlowDistance = PilotDefinition.Conf.SlowDistance,
//             SlowingPow = PilotDefinition.Conf.SlowingPow,
//             FinishDistance = PilotDefinition.Conf.FinishDistance,
//             FinishSpeed = PilotDefinition.Conf.FinishSpeed,
//             FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
//             FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
//             FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
//             NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
//             DebugMode = PilotDefinition.Conf.MotionDebugPrint,
//             DebugCurvature = PilotDefinition.Conf.DebugCurvature,
//             PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
//             SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
//             SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
//             SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
//             SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
//             SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
//             MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
//             MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
//             GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
//             DthLinearFac = PilotDefinition.Conf.DthLinearFac,
//             DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
//             BiasFac = PilotDefinition.Conf.BiasFac,
//             BiasThreshold = PilotDefinition.Conf.BiasThreshold,
//         };
//     }
// }