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 +210,52 @@ namespace MultiWheelC
        private DriveTask _dt;
    }

+    [MovementTest(name = "抱夹关闭")]
+    public class ClampTest1 : MovementTest
+    {
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            PilotDefinition.Self.SpeedLeftArm = 0;
+            PilotDefinition.Self.SpeedRightArm = 0;
+        }
+
+        public override void Test()
+        {
+            _dt = new DriveTask(new ClampToTarget()
+            {
+                LeftClampTarget = PilotDefinition.Self.LeftArmUpperPos,
+                RightClampTarget = PilotDefinition.Self.RightArmUpperPos
+            }.Get());
+            _dt.Wait();
+        }
+
+        private DriveTask _dt;
+    }
+
+    [MovementTest(name = "抱夹打开")]
+    public class ClampTest2 : MovementTest
+    {
+        public override void TestStop()
+        {
+            _dt?.Stop();
+            PilotDefinition.Self.SpeedLeftArm = 0;
+            PilotDefinition.Self.SpeedRightArm = 0;
+        }
+
+        public override void Test()
+        {
+            _dt = new DriveTask(new ClampToTarget()
+            {
+                LeftClampTarget = PilotDefinition.Self.LeftArmLowerPos,
+                RightClampTarget = PilotDefinition.Self.RightArmLowerPos
+            }.Get());
+            _dt.Wait();
+        }
+
+        private DriveTask _dt;
+    }
+
    [MovementTest(name = "测试前进基于轮里程")]
    public class LineTrackingTest : MovementTest
    {