update

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))