45 lines
2.2 KiB
C#
45 lines
2.2 KiB
C#
using ClumsyCore;
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using ClumsyCore.Pilot;
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using MDCSToolBox.Clumsy.MotionControllers;
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using MDCSToolBox.Clumsy.Movements;
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using MDCSToolBox.Clumsy.Pilot;
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namespace MultiWheelC;
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public class ChassisController : MovementDefinition<MultiWheelGeometricController>
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{
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public float BaseSpeed = Configuration.conf.basicSpeed;
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// 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）
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public override MultiWheelGeometricController Get()
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{
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return new MultiWheelGeometricController
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{
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Chassis = BasicPilotBase.Chassis,
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BaseSpeed = BaseSpeed,
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SlowDistance = PilotDefinition.Conf.SlowDistance,
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SlowingPow = PilotDefinition.Conf.SlowingPow,
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FinishDistance = PilotDefinition.Conf.FinishDistance,
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FinishSpeed = PilotDefinition.Conf.FinishSpeed,
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FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
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FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
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FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
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NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
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DebugMode = PilotDefinition.Conf.MotionDebugPrint,
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DebugCurvature = PilotDefinition.Conf.DebugCurvature,
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PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
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SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
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SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
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SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
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SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
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SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
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MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
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MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
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GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
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DthLinearFac = PilotDefinition.Conf.DthLinearFac,
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DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
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BiasFac = PilotDefinition.Conf.BiasFac,
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BiasThreshold = PilotDefinition.Conf.BiasThreshold,
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};
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}
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} |