Merge branch 'master' of http://git.fairylandtech.com/ruifeng.zhou/Tutorial

MultiWheel/MultiWheelC/PilotConfig.cs

@@ -6,15 +6,14 @@ namespace MultiWheelC;
 
 public class PilotConfig : MultiWheelPilotConfig
 {
-    // ===== 多车联动（已从 MDCSToolBox 内联回 Tutorial）=====
+    [FieldMember(desc = "[sync] steering angle acceleration(deg/s^2)")] public float SyncThAccPerSec = 30f;
-    [FieldMember(desc = "[sync] 转向角加速度(deg/s^2)")] public float SyncThAccPerSec = 30f;
+    [FieldMember(desc = "[sync] fleet member distance(mm)")] public float TestCarSyncDistance = 2400f;
-    [FieldMember(desc = "[sync] 编队车间距(mm)")] public float TestCarSyncDistance = 2400f;
+    [FieldMember(desc = "[sync] fleet layout bias angle(deg)")] public float TestCarSyncTh = 0f;
-    [FieldMember(desc = "[sync] 编队布局偏角(deg)")] public float TestCarSyncTh = 0f;
+    // Fleet manual remote IO values are normalized joystick ratios. Keep all speed/angle scaling here.
-    // 手动遥控 Vx 已是 m/s、Vth 已是转向角(deg)，此处系数保持 1（直通），不要再次缩放。
+    [FieldMember(desc = "[sync] fleet manual max linear speed(m/s)")] public float FleetManualMaxSpeed = 0.3f;
-    [FieldMember(desc = "[sync] 手动Vx系数")] public float ManualCarSyncVxFac = 1f;
+    [FieldMember(desc = "[sync] fleet manual normal-mode full-stick steering angle(deg)")] public float FleetManualMaxSteerAngleDeg = 45f;
-    // Manual crab mode: VxFac scales linear speed, VyFac maps steer stick ratio to crab steer angle in degrees.
+    [FieldMember(desc = "[sync] fleet manual crab-mode full-stick steering angle(deg)")] public float FleetManualMaxCrabAngleDeg = 60f;
-    [FieldMember(desc = "[sync] 手动Vy系数(蟹行满杆舵角deg)")] public float ManualCarSyncVyFac = 60f;
+    [FieldMember(desc = "[sync] fleet manual rotate-mode full-stick angular speed(deg/s)")] public float FleetManualMaxRotateOmegaDegPerSec = 45f;
-    [FieldMember(desc = "[sync] 手动Vth系数")] public float ManualCarSyncVthFac = 1f;
     [FieldMember(desc = "[sync] 蟹行舵角上限(deg，应与Medulla舵轮角度限制匹配，默认120)")] public float MultiVehicleCrabSteerLimitDeg = 120f;
     [FieldMember(desc = "[sync] 检测中心偏移(mm)")] public float DeltaDetectCenter = 350f;
     // 仅控制"车队内姿态纠正"(POS 补偿)是否使用 Detour 的 SLAM 位姿，不影响"整个车队姿态的计算"。

MultiWheel/MultiWheelC/PilotDefinition.cs

@@ -37,14 +37,17 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
     [AsLowerIO(desc = "（手动）多车联动模式")] public int MultiVehicleManualMode;
     [FieldMember(desc = "多车联动已同步")] public bool MultiVehicleAligned;
 
-    [AsLowerIO(desc = "多车联动：遥控器Vx")] public float MultiVehicleManualVx;
+    [AsLowerIO(desc = "多车联动：遥控器Vx比例")] public float MultiVehicleManualVx;
-    [AsLowerIO(desc = "多车联动：遥控器Vy")] public float MultiVehicleManualVy;
+    [AsLowerIO(desc = "多车联动：遥控器Vy比例")] public float MultiVehicleManualVy;
-    [AsLowerIO(desc = "多车联动：遥控器Vth")] public float MultiVehicleManualVth;
+    [AsLowerIO(desc = "多车联动：遥控器Vth比例")] public float MultiVehicleManualVth;
+    [AsLowerIO(desc = "多车联动：遥控暂停")] public bool MultiVehicleHold;
 
     // ===== Clumsy 侧脚本/动作驱动的手动等价输入（不走 Medulla IO，不会被 IO 同步覆盖）=====
     // 手动 IO 字段是 [AsLowerIO]（Medulla→Clumsy，Medulla 每周期回写），Clumsy 侧 MovementTest 写它们会被覆盖。
-    // 因此提供这组内部字段，让 Clumsy 侧动作（如 FleetRotateInPlace）能像 FleetRemote 一样驱动车队联动：
+    // 因此提供这组内部字段，让 Clumsy 侧动作（如 FleetRotateInPlace）能像 FleetRemote 一样驱动车队联动。
-    // ScriptEnabled=使能；Mode 0=常规 1=蟹行 2=原地旋转；Vx/Vy/Vth 语义与手动遥控完全一致（m/s、m/s、deg/s）。
+    // ScriptEnabled=使能；Mode 0=常规 1=蟹行 2=原地旋转。
+    // 注意：Medulla 遥控 IO 是归一化摇杆比例；脚本字段保持物理量，避免动作参数再被 FleetManual* 二次缩放。
+    // Mode0: Vx=m/s, Vth=目标舵角deg；Mode1: Vx=m/s, Vy=蟹行舵角deg；Mode2: Vth=角速度deg/s。
     [FieldMember(desc = "多车联动：脚本驱动使能")] public bool MultiVehicleScriptEnabled;
     [FieldMember(desc = "多车联动：脚本驱动模式")] public int MultiVehicleScriptMode;
     [FieldMember(desc = "多车联动：脚本驱动Vx")] public float MultiVehicleScriptVx;
@@ -214,7 +217,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
 
         DLog.Log(
             $"INPUT master={isMaster} endpoint={Conf.MultiVehicleMasterEndpoint} selfEndpoint={Conf.MultiVehicleSelfEndpoint} car={CarNum} " +
-            $"rawEn={MultiVehicleManualEnabled} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000} " +
+            $"rawEn={MultiVehicleManualEnabled} rawHold={MultiVehicleHold} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000} " +
             $"scriptOn={scriptOn} effEn={manualEnabled} effMode={manualMode} effVx={manualVx:0.000} effVy={manualVy:0.000} effVth={manualVth:0.000} " +
             $"auto={autoEnabled} notifFresh={notifFresh} notifAgeMs={notifAgeMs:0} fleetCnt={fleetCnt}/{Conf.MultiVehicleFleetNum}",
             "MultiVehicleRemoteDbg");
@@ -624,6 +627,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
         var manualVx = scriptOn ? MultiVehicleScriptVx : MultiVehicleManualVx;
         var manualVy = scriptOn ? MultiVehicleScriptVy : MultiVehicleManualVy;
         var manualVth = scriptOn ? MultiVehicleScriptVth : MultiVehicleManualVth;
+        var manualHold = !scriptOn && MultiVehicleHold;
         VehicleSyncNotification activeNotification = null;
 
         if (isMaster)
@@ -660,7 +664,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                              Math.Max(300, Conf.MultiVehicleSyncInterval * 5);
             FleetDiag(
                 $"ENTRY master={isMaster} | IO: ManualEn={MultiVehicleManualEnabled} Mode={MultiVehicleManualMode} " +
-                $"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} AutoEn(IO)={MultiVehicleAutoEnabled} " +
+                $"Hold={MultiVehicleHold} Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} AutoEn(IO)={MultiVehicleAutoEnabled} " +
                 $"| SCRIPT en={MultiVehicleScriptEnabled} mode={MultiVehicleScriptMode} Vx={MultiVehicleScriptVx:0.000} Vy={MultiVehicleScriptVy:0.000} Vth={MultiVehicleScriptVth:0.0} " +
                 $"| gate: manualEnabled={manualEnabled} autoEnabled={autoEnabled} notifFresh={notifFresh} " +
                 $"notifManualEn={(MultiVehicleNotification != null ? MultiVehicleNotification.ManualEnabled.ToString() : "null")} " +
@@ -681,7 +685,7 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
             ResetMultiVehicleRotateCenterDrift();
             LogMultiVehicleRemoteDecision(
                 $"RETURN_IDLE master={isMaster} rawEn={MultiVehicleManualEnabled} scriptOn={scriptOn} auto={autoEnabled} " +
-                $"rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000}");
+                $"rawHold={MultiVehicleHold} rawMode={MultiVehicleManualMode} rawVx={MultiVehicleManualVx:0.000} rawVy={MultiVehicleManualVy:0.000} rawVth={MultiVehicleManualVth:0.000}");
             UI.GetPainter("MultiVehicleFleet-vis", false).Clear();
             sendMotionPainter.Clear();
             lock (FleetLock)
@@ -762,10 +766,13 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
             {
                 syncTh = 0;
                 fleetMode = manualMode;
+                var remoteRatioInput = !scriptOn;
                 if (fleetMode == 2)
                 {
-                    // 原地旋转：摇杆左右 → 绕车队中心角速度(deg/s)。底盘 SetOriginBias 已设为车队中心。
+                    // 外部遥控: Vth 为摇杆比例；内部脚本: Vth 为实际角速度(deg/s)。
-                    fleetOmega = manualVth;
+                    fleetOmega = remoteRatioInput
+                        ? ClampFloat(manualVth, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxRotateOmegaDegPerSec)
+                        : manualVth;
                     fleetVx = 0;
                     fleetFrontTh = 0;
                     fleetRearTh = 0;
@@ -774,12 +781,16 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
                 else if (fleetMode == 1)
                 {
-                    // 手动蟹行：Vx 只表示线速度，Vy 表示方向摇杆比例(-1..1)，由 VyFac 映射为舵角。
+                    // 外部遥控: Vx/Vy 为摇杆比例；内部脚本: Vx 为线速度(m/s), Vy 为蟹行舵角(deg)。
-                    var speed = manualVx * Conf.ManualCarSyncVxFac;
+                    var speed = remoteRatioInput
-                    var crabRatio = Math.Max(-90f, Math.Min(90f, manualVy));
+                        ? ClampFloat(manualVx, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxSpeed)
-                    var crabAngle = crabRatio * Conf.ManualCarSyncVyFac;
+                        : manualVx;
+                    var crabRatio = remoteRatioInput ? ClampFloat(manualVy, -1f, 1f) : 0f;
+                    var crabAngle = remoteRatioInput
+                        ? crabRatio * Math.Abs(Conf.FleetManualMaxCrabAngleDeg)
+                        : manualVy;
                     crabInputVx = speed;
-                    crabInputVy = crabRatio;
+                    crabInputVy = remoteRatioInput ? crabRatio : crabAngle;
                     crabRawAngle = crabAngle;
                     crabSteerLimit = Math.Min(179f, Math.Max(1f, Math.Abs(Conf.MultiVehicleCrabSteerLimitDeg)));
 
@@ -793,8 +804,13 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
                 else
                 {
-                    fleetVx = manualVx * Conf.ManualCarSyncVxFac;
+                    // 外部遥控: Vx/Vth 为摇杆比例；内部脚本: Vx 为线速度(m/s), Vth 为目标舵角(deg)。
-                    var targetTh = manualVth * Conf.ManualCarSyncVthFac;
+                    fleetVx = remoteRatioInput
+                        ? ClampFloat(manualVx, -1f, 1f) * Math.Max(0f, Conf.FleetManualMaxSpeed)
+                        : manualVx;
+                    var targetTh = remoteRatioInput
+                        ? ClampFloat(manualVth, -1f, 1f) * Math.Abs(Conf.FleetManualMaxSteerAngleDeg)
+                        : manualVth;
                     var now = DateTime.Now;
                     var dt = (float)Math.Min(0.2, Math.Max(0, (now - _multiVehicleLastThTime).TotalSeconds));
                     _multiVehicleLastThTime = now;
@@ -804,6 +820,17 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                     fleetFrontTh = _multiVehicleAccumulateTh;
                     fleetRearTh = -fleetFrontTh;
                 }
+
+                if (manualHold)
+                {
+                    fleetMode = 0;
+                    fleetVx = 0;
+                    fleetFrontTh = 0;
+                    fleetRearTh = 0;
+                    fleetOmega = 0;
+                    _multiVehicleAccumulateTh = 0f;
+                    _multiVehicleLastThTime = DateTime.Now;
+                }
             }
             else
             {
@@ -830,11 +857,9 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
                 }
             }
         }
-        else if (MultiVehicleNotification != null)
+        else if (activeNotification != null)
         {
-            VehicleSyncNotification notification;
+            var notification = activeNotification;
-            lock (_multiVehicleNotificationLock)
-                notification = MultiVehicleNotification;
 
             syncTh = notification.SyncTh;
             syncDistance = notification.SyncDistance;

MultiWheel/MultiWheelM/CartDefinition.cs

@@ -89,22 +89,25 @@ public partial class CartDefinition : CartActivator.CartDefinition
     [AsLowerIO(desc = "（手动）多车联动模式")]
     public int MultiVehicleManualMode;
 
-    [AsLowerIO(desc = "多车联动：遥控器Vx")]
+    [AsLowerIO(desc = "多车联动：遥控器Vx比例")]
     public float MultiVehicleManualVx;
 
-    [AsLowerIO(desc = "多车联动：遥控器Vy")]
+    [AsLowerIO(desc = "多车联动：遥控器Vy比例")]
     public float MultiVehicleManualVy;
 
-    [AsLowerIO(desc = "多车联动：遥控器Vth")]
+    [AsLowerIO(desc = "多车联动：遥控器Vth比例")]
     public float MultiVehicleManualVth;
 
-    [AsInitParam(desc = "手动最大速度(m/s)")]
+    [AsLowerIO(desc = "多车联动：遥控暂停")]
+    public bool MultiVehicleHold;
+
+    [AsInitParam(desc = "普通手动最大速度(m/s)，车队联动不使用")]
     public float MaxManualSpeed = 0.3f;
 
-    [AsInitParam(desc = "手动最大自旋角速度(deg/s)")]
+    [AsInitParam(desc = "普通手动最大自旋角速度(deg/s)，车队联动不使用")]
     public float MaxManualAngularSpeed = 45f;
 
-    [AsInitParam(desc = "手动最大转向角度(deg)")]
+    [AsInitParam(desc = "普通手动最大转向角度(deg)，车队联动不使用")]
     public float MaxManualTheta = 45f;
 
     [AsInitParam(desc = "遥控转向输入幂数")]

MultiWheel/MultiWheelM/FleetRemote.cs

@@ -26,6 +26,7 @@ public partial class CartDefinition
         MultiVehicleManualVx = 0;
         MultiVehicleManualVy = 0;
         MultiVehicleManualVth = 0;
+        MultiVehicleHold = false;
     }
 
     [IOObjectUtility]
@@ -43,7 +44,6 @@ public partial class CartDefinition
         var crabOn = false;   // 蟹行（四轮同向平移）
         var rotateOn = false; // 原地旋转（绕车队中心）
         // 速度比例 0~1，作用于摇杆输出的线速度/横移/角速度。
-        var speedRatio = 1f;
         UseGesture? manip = null;
 
         // 0=常规(前进+转向) 1=蟹行 2=原地旋转。crab 优先于 rotate（同时打开时蟹行生效）。
@@ -87,7 +87,6 @@ public partial class CartDefinition
                     return;
                 }
 
-                var ratio = Math.Clamp(speedRatio, 0, 1);
                 var px = Math.Clamp(pos.X, -1, 1);
                 var py = Math.Clamp(pos.Y, -1, 1);
                 var mode = CurrentMode();
@@ -95,31 +94,27 @@ public partial class CartDefinition
 
                 if (mode == 2)
                 {
-                    // 原地旋转：pos.X(左右) → 角速度(deg/s)，绕车队中心。
                     MultiVehicleManualVx = 0;
                     MultiVehicleManualVy = 0;
-                    MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
+                    MultiVehicleManualVth = px;
                 }
                 else if (mode == 1)
                 {
-                    // 蟹行：pos.Y → 前后向线速度，pos.X → 横向线速度（m/s）。
+                    MultiVehicleManualVx = py;
-                    MultiVehicleManualVx = py * MaxManualSpeed * ratio;
+                    MultiVehicleManualVy = px;
-                    MultiVehicleManualVy = px * MaxManualSpeed * ratio;
                     MultiVehicleManualVth = 0;
                 }
                 else
                 {
-                    // 常规：pos.Y → 线速度(m/s)，pos.X → 转向角(deg)。
+                    MultiVehicleManualVx = py;
-                    MultiVehicleManualVx = py * MaxManualSpeed * ratio;
                     MultiVehicleManualVy = 0;
-                    MultiVehicleManualVth = px * MaxManualAngularSpeed * ratio;
+                    MultiVehicleManualVth = px;
                 }
-
                 if ((DateTime.Now - _fleetDiagLastStick).TotalMilliseconds >= 200)
                 {
                     _fleetDiagLastStick = DateTime.Now;
-                    FleetDiag($"STICK mode={mode} pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} ratio={ratio:0.00} " +
+                    FleetDiag($"STICK mode={mode} pos=({pos.X:0.00},{pos.Y:0.00}) manip={manipulating} raw " +
-                              $"-> Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.0} en={MultiVehicleManualEnabled}");
+                              $"-> Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} Vth={MultiVehicleManualVth:0.000} en={MultiVehicleManualEnabled}");
                 }
             }
         });
@@ -169,15 +164,6 @@ public partial class CartDefinition
             }
         });
 
-        manip.AddWidget(new UseGesture.ThrottleWidget
-        {
-            name = "fleet_speed_ratio",
-            text = "速度比例",
-            position = "50%+10px, 64%+10px",
-            size = "37.5%-10px, 10%-10px",
-            bounceBack = false,
-            OnValue = (val, _) => speedRatio = Math.Clamp(val, 0, 1)
-        });
 
         manip.AddWidget(new UseGesture.ButtonWidget
         {
@@ -218,8 +204,7 @@ public partial class CartDefinition
             pb.SeparatorText("状态");
             var modeName = MultiVehicleManualMode == 2 ? "原地旋转" : MultiVehicleManualMode == 1 ? "蟹行" : "常规";
             pb.Label($"车队联动: {MultiVehicleManualEnabled}  模式: {modeName}");
-            pb.Label($"速度比例: {speedRatio:0.00}");
+            pb.Label($"VxRatio={MultiVehicleManualVx:0.000} VyRatio={MultiVehicleManualVy:0.000}, VthRatio={MultiVehicleManualVth:0.000}");
-            pb.Label($"Vx={MultiVehicleManualVx:0.000} Vy={MultiVehicleManualVy:0.000} m/s, Vth={MultiVehicleManualVth:0.0}");
             pb.Label($"优先级: {CartActivator.CartDefinition.currentPriority} ({CartActivator.CartDefinition.currentPriorityDesc})");
             pb.Label("请勿同时打开「手动控制」面板");
             pb.Panel.Repaint();

MultiWheel/MultiWheelS/MultiVehicleCar.cs

@@ -1,22 +0,0 @@
-using System.Threading.Tasks;
-using SimpleComposer.RCS;
-using SimpleCore.PropType;
-
-namespace MultiWheelS
-{
-    [CarType(Name = "多车联动AGV")]
-    public class MultiVehicleCar : GhostCar
-    {
-        public bool MultiVehicleSync = true;
-
-        public static new async Task<MultiVehicleCar> Create()
-        {
-            return new MultiVehicleCar
-            {
-                lstatus = "连接中",
-                address = "127.0.0.1",
-                name = "联动AGV"
-            };
-        }
-    }
-}

MultiWheel/MultiWheelS/MultiWheelS.csproj

@@ -1,62 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<Project ToolsVersion="15.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
-  <Import Project="$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props" Condition="Exists('$(MSBuildExtensionsPath)\$(MSBuildToolsVersion)\Microsoft.Common.props')" />
-  <PropertyGroup>
-    <LangVersion>latest</LangVersion>
-  </PropertyGroup>
-  <PropertyGroup>
-    <Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
-    <Platform Condition=" '$(Platform)' == '' ">AnyCPU</Platform>
-    <ProjectGuid>{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}</ProjectGuid>
-    <OutputType>Library</OutputType>
-    <RootNamespace>MultiWheelS</RootNamespace>
-    <AssemblyName>MultiWheelS</AssemblyName>
-    <TargetFrameworkVersion>v4.8</TargetFrameworkVersion>
-    <FileAlignment>512</FileAlignment>
-    <Deterministic>true</Deterministic>
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Debug|AnyCPU' ">
-    <DebugSymbols>true</DebugSymbols>
-    <DebugType>full</DebugType>
-    <Optimize>false</Optimize>
-    <OutputPath>bin\Debug\</OutputPath>
-    <DefineConstants>DEBUG;TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-  </PropertyGroup>
-  <PropertyGroup Condition=" '$(Configuration)|$(Platform)' == 'Release|AnyCPU' ">
-    <DebugType>pdbonly</DebugType>
-    <Optimize>true</Optimize>
-    <OutputPath>bin\Release\</OutputPath>
-    <DefineConstants>TRACE</DefineConstants>
-    <ErrorReport>prompt</ErrorReport>
-    <WarningLevel>4</WarningLevel>
-  </PropertyGroup>
-  <ItemGroup>
-    <Reference Include="LessokajiWeaverUtilities">
-      <HintPath>D:\MDCS\Release\deps\LessokajiWeaverUtilities.dll</HintPath>
-    </Reference>
-    <Reference Include="RefSimpleCore">
-      <HintPath>D:\MDCS\Dependencies\Simple\RefSimpleCore.dll</HintPath>
-    </Reference>
-    <Reference Include="SimpleComposer">
-      <HintPath>D:\MDCS\Executables\Simple\SimpleComposer.exe</HintPath>
-    </Reference>
-    <Reference Include="System" />
-    <Reference Include="System.Core" />
-  </ItemGroup>
-  <ItemGroup>
-    <Compile Include="MultiVehicleCar.cs" />
-  </ItemGroup>
-  <Import Project="$(MSBuildToolsPath)\Microsoft.CSharp.targets" />
-  <PropertyGroup>
-    <PostBuildEvent>if not exist "$(SolutionDir)build\Simple\plugins" mkdir "$(SolutionDir)build\Simple\plugins"
-if not exist "$(SolutionDir)build\Simple" mkdir "$(SolutionDir)build\Simple"
-xcopy "$(TargetDir)$(TargetFileName)" "$(SolutionDir)build\Simple\plugins" /y
-xcopy "$(TargetDir)$(TargetName).pdb" "$(SolutionDir)build\Simple\plugins" /y
-copy /Y "D:\MDCS\Executables\Simple\SimpleComposer.exe" "$(SolutionDir)build\Simple\"
-copy /Y "D:\MDCS\Release\MDCSToolBox.dll" "$(SolutionDir)build\Simple\"
-copy /Y "D:\MDCS\Release\CommonUsage.dll" "$(SolutionDir)build\Simple\"
-copy /Y "D:\MDCS\Dependencies\Simple\RefSimpleCore.dll" "$(SolutionDir)build\Simple\"</PostBuildEvent>
-  </PropertyGroup>
-</Project>

Tutorial.sln

@@ -1,4 +1,3 @@
-
 Microsoft Visual Studio Solution File, Format Version 12.00
 # Visual Studio Version 17
 VisualStudioVersion = 17.5.33424.131
@@ -15,8 +14,6 @@ Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "MultiWheelM", "MultiWheel\M
 EndProject
 Project("{9A19103F-16F7-4668-BE54-9A1E7A4F7556}") = "MultiWheelC", "MultiWheel\MultiWheelC\MultiWheelC.csproj", "{C8C64C7C-A9C6-5C7F-0C1A-609F8C9277D0}"
 EndProject
-Project("{FAE04EC0-301F-11D3-BF4B-00C04F79EFBC}") = "MultiWheelS", "MultiWheel\MultiWheelS\MultiWheelS.csproj", "{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}"
-EndProject
 Global
 	GlobalSection(SolutionConfigurationPlatforms) = preSolution
 		Debug|Any CPU = Debug|Any CPU
@@ -39,10 +36,6 @@ Global
 		{C8C64C7C-A9C6-5C7F-0C1A-609F8C9277D0}.Debug|Any CPU.Build.0 = Debug|Any CPU
 		{C8C64C7C-A9C6-5C7F-0C1A-609F8C9277D0}.Release|Any CPU.ActiveCfg = Release|Any CPU
 		{C8C64C7C-A9C6-5C7F-0C1A-609F8C9277D0}.Release|Any CPU.Build.0 = Release|Any CPU
-		{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}.Debug|Any CPU.ActiveCfg = Debug|Any CPU
-		{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}.Debug|Any CPU.Build.0 = Debug|Any CPU
-		{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}.Release|Any CPU.ActiveCfg = Release|Any CPU
-		{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3}.Release|Any CPU.Build.0 = Release|Any CPU
 	EndGlobalSection
 	GlobalSection(SolutionProperties) = preSolution
 		HideSolutionNode = FALSE
@@ -52,7 +45,6 @@ Global
 		{A1B2C3D4-E5F6-7890-ABCD-EF1234567890} = {A1A1A1A1-B2B2-C3C3-D4D4-E5E5E5E5E5E1}
 		{B7B53B6B-98B5-4B6F-9B09-598F7B8166C9} = {A1A1A1A1-B2B2-C3C3-D4D4-E5E5E5E5E5E2}
 		{C8C64C7C-A9C6-5C7F-0C1A-609F8C9277D0} = {A1A1A1A1-B2B2-C3C3-D4D4-E5E5E5E5E5E2}
-		{D1D1D1D1-E2E2-F3F3-A4A4-B5B5B5B5B5B3} = {A1A1A1A1-B2B2-C3C3-D4D4-E5E5E5E5E5E2}
 	EndGlobalSection
 	GlobalSection(ExtensibilityGlobals) = postSolution
 		SolutionGuid = {EF6B92D5-5691-42DE-8B38-C17AE7DD7418}

docs/MultiVehicleConfig.md

@@ -94,17 +94,18 @@ TwoLegGuessX            = -(TestCarSyncDistance - DeltaDetectCenter)
 
 ## 4. 手动遥控（Medulla 车队遥控）
 
-遥控在 Medulla 侧产生指令（`MultiVehicleManual*`，`[AsLowerIO]` 上报 Clumsy）。摇杆输出已是物理单位，Clumsy 端系数应保持 **1（直通）**。
+遥控在 Medulla 侧产生指令（`MultiVehicleManual*`，`[AsLowerIO]` 上报 Clumsy）。车队联动遥控只上报归一化摇杆比例 `[-1,1]`；实际速度/舵角/角速度统一在 Clumsy 的 `FleetManual*` 参数中换算，避免 Medulla 和 Clumsy 两层缩放叠加。
 
 | 端 | 字段 | 含义 | 推荐值 |
 |----|------|------|--------|
-| Medulla `[AsInitParam]` | `MaxManualSpeed` | 车队手动**最大线速度(m/s)** | `0.3` |
+| Medulla `[AsLowerIO]` | `MultiVehicleManualVx/Vy/Vth` | 车队遥控摇杆比例（仅 `[-1,1]`，不带物理单位） | 摇杆值 |
-| Medulla `[AsInitParam]` | `MaxManualAngularSpeed` | 车队手动**最大转向角(deg)** | `45` |
+| Clumsy `clumsy.json` | `FleetManualMaxSpeed` | 满杆线速度(m/s) | `0.3` |
-| Clumsy `clumsy.json` | `ManualCarSyncVxFac` | 手动 Vx 系数（**保持 1，勿再缩放**） | `1.0` |
+| Clumsy `clumsy.json` | `FleetManualMaxSteerAngleDeg` | 常规模式满杆转向舵角(deg) | `45` |
-| Clumsy `clumsy.json` | `ManualCarSyncVthFac` | 手动 Vth 系数（**保持 1**） | `1.0` |
+| Clumsy `clumsy.json` | `FleetManualMaxCrabAngleDeg` | 蟹行模式满杆蟹行舵角(deg) | `60` |
+| Clumsy `clumsy.json` | `FleetManualMaxRotateOmegaDegPerSec` | 原地旋转模式满杆角速度(deg/s) | `45` |
 | Clumsy `clumsy.json` | `SyncThAccPerSec` | 转向角爬升速率(deg/s) | `30` |
 
-> 历史坑：`ManualCarSyncVxFac=0.2 × MaxManualSpeed=0.3 → 0.06 m/s`，肉眼几乎不动；`VthFac=5 → 225°` 超舵轮范围。已统一为系数=1。
+> 历史坑：旧链路会出现 `ManualCarSyncVxFac × MaxManualSpeed` 叠乘，导致满杆只有 `0.06 m/s` 这类异常低速；现在车队联动不再使用 Medulla 的 `MaxManualSpeed/MaxManualAngularSpeed`，这些字段只属于普通手动遥控。
 
 操作：在 Medulla 打开车体工具 **「FleetRemote / 车队联动遥控」**（workspace 摇杆，松手自动回零），开「车队联动」开关后拖摇杆即可。主车摇杆驱动全队；从车由主车广播自动跟随，**无需**各自开开关。**不要**同时打开普通「手动控制」面板（会抢占优先级）。
 
@@ -212,8 +213,10 @@ TwoLegGuessX            = -(TestCarSyncDistance - DeltaDetectCenter)
 "TwoLegGuessX": -1600,
 "MultiVehicleFleetNum": 2,
 "MultiVehicleUseDetect": true,
-"ManualCarSyncVxFac": 1.0,
+"FleetManualMaxSpeed": 0.3,
-"ManualCarSyncVthFac": 1.0,
+"FleetManualMaxSteerAngleDeg": 45,
+"FleetManualMaxCrabAngleDeg": 60,
+"FleetManualMaxRotateOmegaDegPerSec": 45,
 "SyncThAccPerSec": 30,
 "MultiVehicleMasterEndpoint": "/",            // 从车: "127.0.0.1:8008"
 "PlaygroundRobotName": "agv_multi_1",          // 从车: "agv_multi_2"