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增加原地旋转动作

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This commit is contained in:
shuai.li
2026-07-07 20:00:57 +08:00
parent 68dd6fc061
commit 6ca401cf68
4 changed files with 82 additions and 8 deletions
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MultiWheel/MultiWheelC/TireFollowing.cs
+15 -6
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@@ -297,7 +297,8 @@ namespace MultiWheelC
if (EnableHandover)
{
controller.SlowDistance = float.MinValue;
controller.FinishDistance = 20;
controller.FinishSpeed = 0.2f;
controller.FinishDistance = 50;
}
(WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh) = GetCurrentPos2Dst(WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh);
var walkBlindPathEnd = Tuple.Create(WalkBlindCarPathDstX, WalkBlindCarPathDstY, WalkBlindCarPathDstTh);
@@ -416,6 +417,14 @@ namespace MultiWheelC
while (_remainDistanceList.Count > 3) _remainDistanceList.RemoveAt(0);
rd = _remainDistanceList.Average();
_painter.DrawText(Color.Green, $"{rd:F3}", distanceLabelPos.X, distanceLabelPos.Y - 200);
if(rd < PilotDefinition.Conf.TireFollowingReleaseDistance)
{
if (detectors[detectorIndex].SrcId != -1 && detectors[detectorIndex].LeaveSrcFunction != null)
{
detectors[detectorIndex].LeaveSrcFunction(detectors[detectorIndex].SrcId);
DLog.Log($"释放预取车点{detectors[detectorIndex].SrcId}", "TireFollowing");
}
}
if (detectorIndex < detectors.Count - 1)
{
@@ -423,11 +432,11 @@ namespace MultiWheelC
if (detectors[detectorIndex].SwitchWalkBlindCondition(rd))
{
WalkBlindStage1 = true;
if (detectors[detectorIndex].SrcId != -1 && detectors[detectorIndex].LeaveSrcFunction != null)
{
detectors[detectorIndex].LeaveSrcFunction(detectors[detectorIndex].SrcId);
DLog.Log($"释放预取车点{detectors[detectorIndex].SrcId}", "TireFollowing");
}
//if (detectors[detectorIndex].SrcId != -1 && detectors[detectorIndex].LeaveSrcFunction != null)
//{
// detectors[detectorIndex].LeaveSrcFunction(detectors[detectorIndex].SrcId);
// DLog.Log($"释放预取车点{detectors[detectorIndex].SrcId}", "TireFollowing");
//}
WalkBlindCarPathDstX = trackDst.X;
WalkBlindCarPathDstY = trackDst.Y;
WalkBlindCarPathDstTh = angle2target + WalkBlindTh;