update

MultiWheel/MultiWheelC/AGV.cs

@@ -1,4 +1,5 @@
 using ClumsyCore;
+using ClumsyCore.Interfaces;
 using FundamentalLib;
 using MDCSToolBox.Clumsy.AgvInterfaces;
 using MDCSToolBox.Clumsy.MotionControllers;
@@ -132,7 +133,7 @@ namespace MultiWheelC
                     0)
                 },
             };
-            DLog.Log($"检测器数量为{detectors.Count}", "TireFollowing");
+            DLog.Log($"钻胎为{tireNum}", "TireFollowing");
             var following = new TireFollowing()
             {
                 GetController = () => new ChassisController().Get(),
@@ -141,7 +142,7 @@ namespace MultiWheelC
                 detectors = detectors,
                 SlowDistance = PilotDefinition.Conf.TireFollowingSlowDistance,
                 MaxSpeed = PilotDefinition.Conf.TireFollowingMaxSpeed,
-                TireNum = detectors.Count,
+                TireNum = tireNum,
                 CarDirection = frontLidarDetect ? 0f : 180f,
                 WalkBlindTh = frontLidarDetect ? PilotDefinition.Conf.TireFollowingFrontLidarWalkBlindTh : PilotDefinition.Conf.TireFollowingBackLidarWalkBlindTh,
             };
@@ -272,7 +273,7 @@ namespace MultiWheelC
                     if (setLocationRes != null && setLocationRes.l_step == 2) break;
                 }
             });
-
         }
+        public float baseSpeed = 0;
     }
 }