From 14b967f8890e7424ef374c525d09628a93a2b376 Mon Sep 17 00:00:00 2001
From: "ruifeng.zhou" <ruifeng.zhou@fairylandtech.com>
Date: Mon, 29 Jun 2026 22:08:55 +0800
Subject: [PATCH] update

---
 MultiWheel/MultiWheelC/AGV.cs                 | 19 -------
 .../MovementTests.TireFollowing.cs            | 37 --------------
 MultiWheel/MultiWheelC/Movements.cs           | 50 -------------------
 MultiWheel/MultiWheelC/MultiWheelC.csproj     |  2 -
 MultiWheel/MultiWheelC/PilotConfig.cs         |  9 ----
 MultiWheel/MultiWheelC/PilotDefinition.cs     | 17 -------
 6 files changed, 134 deletions(-)

diff --git a/MultiWheel/MultiWheelC/AGV.cs b/MultiWheel/MultiWheelC/AGV.cs
index 106eda9..5413d17 100644
--- a/MultiWheel/MultiWheelC/AGV.cs
+++ b/MultiWheel/MultiWheelC/AGV.cs
@@ -5,8 +5,6 @@ using MDCSToolBox.Clumsy.MotionControllers;
 using MDCSToolBox.Clumsy.Tracks;
 using MDCSToolBox.Commons.Controllers;
 using Newtonsoft.Json;
-using OpenCvSharp.Dnn;
-using OpenCvSharp.XFeatures2D;
 using System;
 using System.Collections.Generic;
 using System.Net.Http;
@@ -14,7 +12,6 @@ using System.Numerics;
 using System.Threading;
 using System.Threading.Tasks;
 using static ClumsyCore.DTools.Painter;
-using static OpenCvSharp.ConnectedComponents;
 
 namespace MultiWheelC
 {
@@ -213,22 +210,6 @@ namespace MultiWheelC
             DLog.Log("驱动器下使能完成", "TireFollowing");
         }
 
-        //夹抱 close为true时夹抱，否则为还原
-        public void ClamptoTarget(bool close)
-        {
-            if (PilotDefinition.Self.GhostMode)
-            {
-                Thread.Sleep(2000);
-                Console.WriteLine("夹抱完成");
-                return;
-            }
-            new DriveTask(new ClampToTarget()
-            {
-                LeftClampTarget = close ? PilotDefinition.Self.LeftArmUpperPos : PilotDefinition.Self.LeftArmLowerPos,
-                RightClampTarget = close ? PilotDefinition.Self.RightArmUpperPos : PilotDefinition.Self.RightArmLowerPos
-            }.Get()).Wait();
-        }
-
         public void LineTracking(int srcId, int dstId, float LineDistance)
         {
             while (!TryLock(dstId))
diff --git a/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs b/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
index f3693ac..abcbdae 100644
--- a/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
+++ b/MultiWheel/MultiWheelC/MovementTests.TireFollowing.cs
@@ -11,7 +11,6 @@ using FundamentalLib;
 using MDCSToolBox.Clumsy.Calibration;
 using MDCSToolBox.Clumsy.Tracks;
 using MDCSToolBox.Commons.Controllers;
-using OpenCvSharp.Dnn;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
@@ -211,42 +210,6 @@ namespace MultiWheelC
         private DriveTask _dt;
     }
 
-    [MovementTest(name = "鎶卞す鍏抽棴")]
-    public class ClampTest1 : MovementTest
-    {
-        public override void TestStop()
-        {
-            throw new NotImplementedException();
-        }
-
-        public override void Test()
-        {
-            new DriveTask(new ClampToTarget()
-            {
-                LeftClampTarget = PilotDefinition.Self.LeftArmUpperPos,
-                RightClampTarget = PilotDefinition.Self.RightArmUpperPos
-            }.Get()).Wait();
-        }
-    }
-
-    [MovementTest(name = "鎶卞す鎵撳紑")]
-    public class ClampTest2 : MovementTest
-    {
-        public override void TestStop()
-        {
-            throw new NotImplementedException();
-        }
-
-        public override void Test()
-        {
-            new DriveTask(new ClampToTarget()
-            {
-                LeftClampTarget = PilotDefinition.Self.LeftArmLowerPos,
-                RightClampTarget = PilotDefinition.Self.RightArmLowerPos
-            }.Get()).Wait();
-        }
-    }
-    
     [MovementTest(name = "娴嬭瘯鍓嶈繘鍩轰簬杞噷绋�")]
     public class LineTrackingTest : MovementTest
     {
diff --git a/MultiWheel/MultiWheelC/Movements.cs b/MultiWheel/MultiWheelC/Movements.cs
index 06d84d5..f5c687a 100644
--- a/MultiWheel/MultiWheelC/Movements.cs
+++ b/MultiWheel/MultiWheelC/Movements.cs
@@ -16,7 +16,6 @@ using MDCSToolBox.Clumsy.Tracks;
 using MDCSToolBox.Commons;
 using MDCSToolBox.Commons.Controllers;
 using Newtonsoft.Json;
-using OpenCvSharp.Dnn;
 using System;
 using System.Collections.Generic;
 using System.Drawing;
@@ -74,55 +73,6 @@ namespace MultiWheelC
     }
 
 
-    public class ClampToTarget : MovementDefinition
-    {
-        public float LeftClampTarget;
-        public float RightClampTarget;
-
-        public float MaxClampSpeed = PilotDefinition.Conf.MaxClampSpeed;
-        public float ClampKp = PilotDefinition.Conf.ClampControlKp;
-        public float ClampKi = PilotDefinition.Conf.ClampControlKi;
-        public float ClampKd = PilotDefinition.Conf.ClampControlKd;
-        public float ClampDeadZone = PilotDefinition.Conf.ClampControlDeadZone;
-        private PIDController leftpid, rightpid;
-
-        public override IEnumerable<bool> Get()
-        {
-            leftpid = new PIDController(() => PilotDefinition.Self.ActualPosLeftArm, ClampKp, ClampKi, ClampKd, 0,
-                    ClampDeadZone, MaxClampSpeed)
-            { SpeedAccPerSec = MaxClampSpeed / 2f };
-
-            rightpid = new PIDController(() => PilotDefinition.Self.ActualPosRightArm, ClampKp, ClampKi, ClampKd, 0,
-                    ClampDeadZone, MaxClampSpeed)
-            { SpeedAccPerSec = MaxClampSpeed / 2f };
-
-            while (true)
-            {
-                var leftspeed = leftpid.GetResponse(LeftClampTarget);
-                var rightspeed = rightpid.GetResponse(RightClampTarget);
-                Console.WriteLine($"left arm speed:{leftspeed}  right arm speed:{rightspeed}");
-                PilotDefinition.Self.SpeedLeftArm = leftspeed;
-                PilotDefinition.Self.SpeedRightArm = rightspeed;
-                if (leftpid.IsArrived()) PilotDefinition.Self.SpeedLeftArm = 0;
-                if (rightpid.IsArrived()) PilotDefinition.Self.SpeedRightArm = 0;
-                //if(Math.Abs(PilotDefinition.Self.LeftArmActualPos - PilotDefinition.Self.RightArmActualPos) > PilotDefinition.Conf.ClampOutOfSyncThr)
-                //{
-                //    PilotDefinition.Self.ClampOutOfSync = true;
-                //    Console.WriteLine($"宸﹀す鑷備綅缃畕PilotDefinition.Self.LeftArmActualPos} 鍙冲す鑷備綅缃畕PilotDefinition.Self.RightArmActualPos}");
-                //    Console.WriteLine($"涓や釜澶硅噦鐨勪綅缃樊浜唟Math.Abs(PilotDefinition.Self.LeftArmActualPos - PilotDefinition.Self.RightArmActualPos)}");
-                //    break;
-                //}
-
-                if (leftpid.IsArrived() && rightpid.IsArrived()) break;
-                yield return true;
-            }
-
-            PilotDefinition.Self.SpeedLeftArm = 0;
-            PilotDefinition.Self.SpeedRightArm = 0;
-            Console.WriteLine($"left clamp to target:{LeftClampTarget}  right clamp to target:{RightClampTarget}");
-        }
-    }
-
     public class Sleep : MovementDefinition
     {
         public float Second = 2;
diff --git a/MultiWheel/MultiWheelC/MultiWheelC.csproj b/MultiWheel/MultiWheelC/MultiWheelC.csproj
index 8962a0d..a279414 100644
--- a/MultiWheel/MultiWheelC/MultiWheelC.csproj
+++ b/MultiWheel/MultiWheelC/MultiWheelC.csproj
@@ -10,8 +10,6 @@
 
   <ItemGroup>
     <PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
-    <PackageReference Include="OpenCvSharp4" Version="4.10.0.20240615" />
-    <PackageReference Include="OpenCvSharp4.Extensions" Version="4.10.0.20240615" />
     <PackageReference Include="System.Numerics.Vectors" Version="4.6.1" />
   </ItemGroup>
 
diff --git a/MultiWheel/MultiWheelC/PilotConfig.cs b/MultiWheel/MultiWheelC/PilotConfig.cs
index 9e458d9..1ec705d 100644
--- a/MultiWheel/MultiWheelC/PilotConfig.cs
+++ b/MultiWheel/MultiWheelC/PilotConfig.cs
@@ -230,15 +230,6 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "杞儙璇嗗埆:鍚庨浄杈惧弬鏁�")] public int TireBackTwoLegSgnDir = 1;
     [FieldMember(desc = "杞儙璇嗗埆:鍚庨浄杈惧弬鏁�")] public float TireBackTwoLegCenterChangeX = 0;
 
-    [FieldMember(desc = "鎶卞す鎺у埗pid:Kp")] public float ClampControlKp = 0.1f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:Ki")] public float ClampControlKi = 0f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:Kd")] public float ClampControlKd = 0f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:MaxI")] public float ClampControlMaxI = 0f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:Acc")] public float ClampControlSpeedAcc = 1f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:Thresh")] public float ClampControlThresh = 0.2f;
-    [FieldMember(desc = "鎶卞す鎺у埗pid:DeadZone")] public float ClampControlDeadZone = 5f;
-    [FieldMember(desc = "鎶卞す鏈�澶ч�熷害")] public float MaxClampSpeed = 1.5f;
-
     [FieldMember(desc = "鐩寸嚎琛岃蛋璺濈")] public float LineTrackDistance = 1000f;
     [FieldMember(desc = "鐩寸嚎琛岃蛋鏈�澶ч�熷害")] public float LineTrackMaxSpeed = 0.3f;
     [FieldMember(desc = "鐩寸嚎琛岃蛋Kp")] public float LineTrackKp = 0.2f;
diff --git a/MultiWheel/MultiWheelC/PilotDefinition.cs b/MultiWheel/MultiWheelC/PilotDefinition.cs
index 50bbb5d..9170199 100644
--- a/MultiWheel/MultiWheelC/PilotDefinition.cs
+++ b/MultiWheel/MultiWheelC/PilotDefinition.cs
@@ -100,18 +100,6 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
     [AsLowerIO(desc = "杞﹀彿")] public int CarNum = 1;
 
-    #region 澶硅噦鍙橀噺
-    [AsUpperIO(desc = "宸﹀す鑷備笅鍙戦�熷害")] public float SpeedLeftArm;
-
-    [AsUpperIO(desc = "鍙冲す鑷備笅鍙戦�熷害")] public float SpeedRightArm;
-
-    [AsLowerIO(desc = "宸﹀す鑷傚疄闄呬綅缃�")] public float ActualPosLeftArm;
-
-    [AsLowerIO(desc = "鍙冲す鑷傚疄闄呬綅缃�")] public float ActualPosRightArm;
-
-    [AsUpperIO(desc = "澶硅噦涓嶅悓姝ユ姤璀�")] public bool ClampOutOfSync = false;
-    #endregion
-
     [AsLowerIO(desc = "宸﹀墠宸﹁疆瀹為檯浣嶇疆")] public float LFLActualPos;
     [AsLowerIO(desc = "宸﹀墠鍙宠疆瀹為檯浣嶇疆")] public float LFRActualPos;
     [AsLowerIO(desc = "鍙冲墠宸﹁疆瀹為檯浣嶇疆")] public float RFLActualPos;
@@ -121,11 +109,6 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
     [AsLowerIO(desc = "鍙冲悗宸﹁疆瀹為檯浣嶇疆")] public float RRLActualPos;
     [AsLowerIO(desc = "鍙冲悗鍙宠疆瀹為檯浣嶇疆")] public float RRRActualPos;
 
-    [AsLowerIO(desc = "宸﹀す鑷備綆闄愪綅")] public float LeftArmLowerPos;
-    [AsLowerIO(desc = "宸﹀す鑷傞珮闄愪綅")] public float LeftArmUpperPos;
-    [AsLowerIO(desc = "鍙冲す鑷備綆闄愪綅")] public float RightArmLowerPos;
-    [AsLowerIO(desc = "鍙冲す鑷傞珮闄愪綅")] public float RightArmUpperPos;
-
     [AsUpperIO(desc = "浠嶤寰�椹卞姩鍣ㄤ笅浣胯兘")] public bool DisableFromC = false;
     [AsUpperIO(desc = "浠嶤涓婂浣�")] public bool ResetFromC = false;