update 增加追踪点动作

2026-07-02 17:52:55 +08:00
parent 71444b362d
commit d3b4a9eb15
4 changed files with 165 additions and 4 deletions
@@ -226,7 +226,7 @@ namespace MultiWheelC
                RightClampTarget = close ? PilotDefinition.Self.RightArmUpperPos : PilotDefinition.Self.RightArmLowerPos
            }.Get()).Wait();
        }
-        public void LineTracking(int srcId, int dstId)
+        public void LineTracking(int srcId, float srcX, float srcY, int dstId, float dstX, float dstY)
        {
            while (!TryLock(dstId))
            {
@@ -236,9 +236,18 @@ namespace MultiWheelC
            new DriveTask(new LineTracking()
            {
                Target = PilotDefinition.Conf.LineTrackDistance + (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
-                LeaveSrcFunction = Leave,
-                SrcId = srcId,
+                //LeaveSrcFunction = Leave,
+                //SrcId = srcId,
            }.Get()).Wait();
+
+            new DriveTask(new DstTracker()
+            {
+                Src = new Vector2(srcX, srcY),
+                Dst = new Vector2(dstX, dstY),
+            }.Get());Wait();
+            Leave(srcId);
+            DLog.Log($"释放锁点{srcId}完成", "TireFollowing");
+
        }

        public void ChangeAvoidanceDistance(float stopDistance, float slowDistance)