First_Dev_Dept/Tutorial
12
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

update 增加停车机器人钻车等代码 实现停车机器人能力的瘦身代码

Browse Source
This commit is contained in:
shuai.li
2026-06-29 11:46:02 +08:00
parent d935e847ec
commit 8b19a15fbb
7 changed files with 1443 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MultiWheel/MultiWheelC/PilotDefinition.cs
+29
View File
@@ -55,6 +55,35 @@ public class PilotDefinition : MultiWheelPilotDefinition<PilotConfig, PilotDefin
[AsLowerIO(desc = "车号")] public int CarNum = 1;
#region 夹臂变量
[AsUpperIO(desc = "左夹臂下发速度")] public float SpeedLeftArm;
[AsUpperIO(desc = "右夹臂下发速度")] public float SpeedRightArm;
[AsLowerIO(desc = "左夹臂实际位置")] public float ActualPosLeftArm;
[AsLowerIO(desc = "右夹臂实际位置")] public float ActualPosRightArm;
[AsUpperIO(desc = "夹臂不同步报警")] public bool ClampOutOfSync = false;
#endregion
[AsLowerIO(desc = "左前左轮实际位置")] public float LFLActualPos;
[AsLowerIO(desc = "左前右轮实际位置")] public float LFRActualPos;
[AsLowerIO(desc = "右前左轮实际位置")] public float RFLActualPos;
[AsLowerIO(desc = "右前右轮实际位置")] public float RFRActualPos;
[AsLowerIO(desc = "左后左轮实际位置")] public float LRLActualPos;
[AsLowerIO(desc = "左后右轮实际位置")] public float LRRActualPos;
[AsLowerIO(desc = "右后左轮实际位置")] public float RRLActualPos;
[AsLowerIO(desc = "右后右轮实际位置")] public float RRRActualPos;
[AsLowerIO(desc = "左夹臂低限位")] public float LeftArmLowerPos;
[AsLowerIO(desc = "左夹臂高限位")] public float LeftArmUpperPos;
[AsLowerIO(desc = "右夹臂低限位")] public float RightArmLowerPos;
[AsLowerIO(desc = "右夹臂高限位")] public float RightArmUpperPos;
[AsUpperIO(desc = "从C往驱动器下使能")] public bool DisableFromC = false;
[AsUpperIO(desc = "从C上复位")] public bool ResetFromC = false;
private float _multiVehicleAccumulateTh;
private DateTime _multiVehicleLastThTime = DateTime.Now;
private readonly object _multiVehicleNotificationLock = new();