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
@@ -73,6 +73,50 @@ 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 ClampMaxI = PilotDefinition.Conf.ClampControlMaxI;
+        public float ClampSpeedAcc = PilotDefinition.Conf.ClampControlSpeedAcc;
+        public float ClampDeadZone = PilotDefinition.Conf.ClampControlDeadZone;
+        private PIDController leftpid, rightpid;
+
+        public override IEnumerable<bool> Get()
+        {
+            leftpid = new PIDController(() => PilotDefinition.Self.ActualPosLeftArm, ClampKp, ClampKi, ClampKd,
+                    ClampMaxI, ClampDeadZone, MaxClampSpeed)
+                { SpeedAccPerSec = ClampSpeedAcc };
+
+            rightpid = new PIDController(() => PilotDefinition.Self.ActualPosRightArm, ClampKp, ClampKi, ClampKd,
+                    ClampMaxI, ClampDeadZone, MaxClampSpeed)
+                { SpeedAccPerSec = ClampSpeedAcc };
+
+            while (true)
+            {
+                var leftspeed = leftpid.GetResponse(LeftClampTarget);
+                var rightspeed = rightpid.GetResponse(RightClampTarget);
+                Console.WriteLine($"left arm speed:{leftspeed}  right arm speed:{rightspeed}");
+                PilotDefinition.Self.SpeedLeftArm = leftspeed;
+                PilotDefinition.Self.SpeedRightArm = rightspeed;
+                if (leftpid.IsArrived()) PilotDefinition.Self.SpeedLeftArm = 0;
+                if (rightpid.IsArrived()) PilotDefinition.Self.SpeedRightArm = 0;
+
+                if (leftpid.IsArrived() && rightpid.IsArrived()) break;
+                yield return true;
+            }
+
+            PilotDefinition.Self.SpeedLeftArm = 0;
+            PilotDefinition.Self.SpeedRightArm = 0;
+            Console.WriteLine($"left clamp to target:{LeftClampTarget}  right clamp to target:{RightClampTarget}");
+        }
+    }
+
    public class Sleep : MovementDefinition
    {
        public float Second = 2;