87 lines
3.0 KiB
C#
87 lines
3.0 KiB
C#
// Medulla虚拟遥控器和夹臂控制
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using MDCSToolBox.Medulla.Chassis.MultiWheel;
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using CartActivator;
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namespace MedullaAdapter
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{
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// M层单车虚拟遥控器：使用父类提供的底盘控制界面。
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public class Remote : MultiWheelRemote<DiverCartDefinition>
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{
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// 将父类虚拟遥控器界面输入统一转发到本车的ManualControl。
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public override void ChassisOperation()
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{
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if (MultiVehicleMode.on)
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{
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MultiVehicleModeChassisLogic();
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statusText = "单车版本不支持多车联动遥控";
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return;
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}
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// 当前单车适配层只定义Normal、Crab和Spin三种模式。
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// 禁止这些旧按钮绕过适配层直接修改底盘坐标偏置。
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if (AckermannMode.on ||
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SwayMode.on ||
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XYThMode.on)
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{
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cart.Chassis?.PredefinedDriveStop();
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statusText = "当前单车版本暂不支持阿克曼、斜行或全向模式";
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return;
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}
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var mode = SpinMode.on
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? DiverCartDefinition.ManualControlMode.Spin
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: CrabMode.on
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? DiverCartDefinition.ManualControlMode.Crab
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: DiverCartDefinition.ManualControlMode.Normal;
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cart.ManualControl(
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mode,
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SpeedPad.x,
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SpeedPad.y,
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FrontDirection.dval * 180,
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SpeedThreshold.val);
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statusText =
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$"{mode}, x={SpeedPad.x:0.00}, " +
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$"y={SpeedPad.y:0.00}, " +
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$"speed={SpeedThreshold.val:0.00}";
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}
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[AsControlItem(name = "夹抱速度", LayoutRow = 0, LayoutCol = 4)]
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public Throttle ArmSpeed;
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[AsControlItem(name = "夹抱打开", LayoutRow = 1, LayoutCol = 0)]
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public Button Open;
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[AsControlItem(name = "夹抱关闭", LayoutRow = 1, LayoutCol = 2)]
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public Button Close;
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// M层虚拟遥控器：控制左右夹臂同步打开或关闭。
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public override void CustomOperation()
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{
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if (Open.pressed)
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{
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cart.SpeedLeftArm =
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-ArmSpeed.val * cart.ManualArmSpeedFac;
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cart.SpeedRightArm =
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-ArmSpeed.val * cart.ManualArmSpeedFac;
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}
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else if (Close.pressed)
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{
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cart.SpeedLeftArm =
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ArmSpeed.val * cart.ManualArmSpeedFac;
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cart.SpeedRightArm =
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ArmSpeed.val * cart.ManualArmSpeedFac;
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}
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else
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{
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cart.SpeedLeftArm = 0;
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cart.SpeedRightArm = 0;
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}
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}
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// 单车不支持多车联动，误打开多车开关时主动停车。
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public override void MultiVehicleModeChassisLogic()
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{
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cart.Chassis?.PredefinedDriveStop();
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}
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}
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}
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