45 lines
2.3 KiB
C#
45 lines
2.3 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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// } |