Update MultiWheel fleet sync and restore clamp support

2026-06-30 22:20:10 +08:00
parent 3411654a34
commit 574987222a
14 changed files with 287 additions and 225 deletions
@@ -210,6 +210,21 @@ namespace MultiWheelC
            DLog.Log("驱动器下使能完成", "TireFollowing");
        }

+        // 夹抱：close 为 true 时关闭夹抱，否则打开夹抱。
+        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))