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Add FleetCrabWalk startup motion config

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This commit is contained in:
ruifeng.zhou
2026-07-04 18:11:21 +08:00
parent e5ef701729
commit 980ee9170b
3 changed files with 34 additions and 10 deletions
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MultiWheel/MultiWheelC/AGV.cs
+6 -2
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@@ -322,10 +322,13 @@ namespace MultiWheelC
var pathAngle = (float)CommonMath.RoundTh((float)(Math.Atan2(dy, dx) / Math.PI * 180.0));
var crabAngle = (float)CommonMath.ThDiff(pathAngle, centerTh);
var targetBodyWorldHeading = (float)CommonMath.RoundTh(PilotDefinition.Conf.FleetCrabBodyWorldHeadingDeg);
var bodyToPathAngle = (float)CommonMath.ThDiff(pathAngle, targetBodyWorldHeading);
DLog.Log(
$"call FleetCrabWalk(src=({srcX:0},{srcY:0},id:{srcId}), dst=({dstX:0},{dstY:0},id:{dstId}), " +
$"len={pathLength:0.0}, speed={speed:0.000}, pathAngle={pathAngle:0.0}, " +
$"center=({centerX:0},{centerY:0},{centerTh:0.0}), crabAngle={crabAngle:0.0})",
$"center=({centerX:0},{centerY:0},{centerTh:0.0}), crabAngle={crabAngle:0.0}, " +
$"targetBodyWorld={targetBodyWorldHeading:0.0}, bodyToPath={bodyToPathAngle:0.0})",
"FleetCrabDbg");
if (dstId != -1)
@@ -340,10 +343,11 @@ namespace MultiWheelC
var action = new MultiWheelC.FleetCrabWalk
{
CrabAngleDeg = crabAngle,
BodyToPathAngleDeg = crabAngle,
BodyToPathAngleDeg = bodyToPathAngle,
CrabLengthMm = pathLength,
CrabSpeed = speed,
FleetCrabAccel = PilotDefinition.Conf.FleetCrabAccel,
FleetCrabStartAccel = PilotDefinition.Conf.FleetCrabStartAccel,
FleetCrabSlowDistance = PilotDefinition.Conf.FleetCrabSlowDistance,
FleetCrabFinishDistance = PilotDefinition.Conf.FleetCrabFinishDistance,
FleetCrabFinishSpeed = PilotDefinition.Conf.FleetCrabFinishSpeed,