45 lines
2.0 KiB
C#
45 lines
2.0 KiB
C#
using ClumsyCore;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using FundamentalLib;
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using MDCSToolBox.Clumsy.Pilot.MultiWheel;
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namespace MultiWheelC;
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public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefinition>
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{
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public new float CarLength = 1472f;
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public new float CarWidth = 948f;
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[AsLowerIO(desc = "车号")] public int CarNum = 1;
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public override void StandardInit() { }
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#region 夹臂变量
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[AsUpperIO(desc = "左夹臂下发速度")] public float SpeedLeftArm;
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[AsUpperIO(desc = "右夹臂下发速度")] public float SpeedRightArm;
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[AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
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[AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
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[AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync = false;
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#endregion
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[AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
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[AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
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[AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
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[AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
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[AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
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[AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
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[AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
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[AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
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[AsLowerIO(desc = "左夹臂低限位")] public int LeftArmLowerPos;
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[AsLowerIO(desc = "左夹臂高限位")] public int LeftArmUpperPos;
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[AsLowerIO(desc = "右夹臂低限位")] public int RightArmLowerPos;
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[AsLowerIO(desc = "右夹臂高限位")] public int RightArmUpperPos;
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[AsUpperIO(desc = "从C往驱动器下使能")] public bool DisableFromC = false;
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[AsUpperIO(desc = "从C上复位")] public bool ResetFromC = false;
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[AsLowerIO(desc = "驱动轮使能状态")] public bool WheelAbleState = true;
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}
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