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))

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 = "抱夹关闭")]
-    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 = "抱夹打开")]
-    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 = "测试前进基于轮里程")]
     public class LineTrackingTest : MovementTest
     {

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($"left arm speed:{leftspeed}  right arm speed:{rightspeed}");
-                PilotDefinition.Self.SpeedLeftArm = leftspeed;
-                PilotDefinition.Self.SpeedRightArm = rightspeed;
-                if (leftpid.IsArrived()) PilotDefinition.Self.SpeedLeftArm = 0;
-                if (rightpid.IsArrived()) PilotDefinition.Self.SpeedRightArm = 0;
-                //if(Math.Abs(PilotDefinition.Self.LeftArmActualPos - PilotDefinition.Self.RightArmActualPos) > PilotDefinition.Conf.ClampOutOfSyncThr)
-                //{
-                //    PilotDefinition.Self.ClampOutOfSync = true;
-                //    Console.WriteLine($"左夹臂位置{PilotDefinition.Self.LeftArmActualPos} 右夹臂位置{PilotDefinition.Self.RightArmActualPos}");
-                //    Console.WriteLine($"两个夹臂的位置差了{Math.Abs(PilotDefinition.Self.LeftArmActualPos - PilotDefinition.Self.RightArmActualPos)}");
-                //    break;
-                //}
-
-                if (leftpid.IsArrived() && rightpid.IsArrived()) break;
-                yield return true;
-            }
-
-            PilotDefinition.Self.SpeedLeftArm = 0;
-            PilotDefinition.Self.SpeedRightArm = 0;
-            Console.WriteLine($"left clamp to target:{LeftClampTarget}  right clamp to target:{RightClampTarget}");
-        }
-    }
-
     public class Sleep : MovementDefinition
     {
         public float Second = 2;

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>
 

MultiWheel/MultiWheelC/PilotConfig.cs

@@ -230,15 +230,6 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegSgnDir = 1;
     [FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegCenterChangeX = 0;
 
-    [FieldMember(desc = "抱夹控制pid:Kp")] public float ClampControlKp = 0.1f;
-    [FieldMember(desc = "抱夹控制pid:Ki")] public float ClampControlKi = 0f;
-    [FieldMember(desc = "抱夹控制pid:Kd")] public float ClampControlKd = 0f;
-    [FieldMember(desc = "抱夹控制pid:MaxI")] public float ClampControlMaxI = 0f;
-    [FieldMember(desc = "抱夹控制pid:Acc")] public float ClampControlSpeedAcc = 1f;
-    [FieldMember(desc = "抱夹控制pid:Thresh")] public float ClampControlThresh = 0.2f;
-    [FieldMember(desc = "抱夹控制pid:DeadZone")] public float ClampControlDeadZone = 5f;
-    [FieldMember(desc = "抱夹最大速度")] public float MaxClampSpeed = 1.5f;
-
     [FieldMember(desc = "直线行走距离")] public float LineTrackDistance = 1000f;
     [FieldMember(desc = "直线行走最大速度")] public float LineTrackMaxSpeed = 0.3f;
     [FieldMember(desc = "直线行走Kp")] public float LineTrackKp = 0.2f;

MultiWheel/MultiWheelC/PilotDefinition.cs

@@ -100,18 +100,6 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
     [AsLowerIO(desc = "车号")] public int CarNum = 1;
 
-    #region 夹臂变量
-    [AsUpperIO(desc = "左夹臂下发速度")] public float SpeedLeftArm;
-
-    [AsUpperIO(desc = "右夹臂下发速度")] public float SpeedRightArm;
-
-    [AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
-
-    [AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
-
-    [AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync = false;
-    #endregion
-
     [AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
     [AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
     [AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
@@ -121,11 +109,6 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
     [AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
     [AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
 
-    [AsLowerIO(desc = "左夹臂低限位")] public float LeftArmLowerPos;
-    [AsLowerIO(desc = "左夹臂高限位")] public float LeftArmUpperPos;
-    [AsLowerIO(desc = "右夹臂低限位")] public float RightArmLowerPos;
-    [AsLowerIO(desc = "右夹臂高限位")] public float RightArmUpperPos;
-
     [AsUpperIO(desc = "从C往驱动器下使能")] public bool DisableFromC = false;
     [AsUpperIO(desc = "从C上复位")] public bool ResetFromC = false;