Initial tutorial project

2026-06-19 23:12:05 +08:00
commit e5aeae9c33
11 changed files with 553 additions and 0 deletions
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+using CartActivator;
+
+namespace DiffWheelM;
+
+[UseManualController(manualController = typeof(Remote))]
+[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
+public class CartDefinition : CartActivator.CartDefinition
+{
+    [AsUpperIO(desc = "左轮下发速度", timeOutReset = true)]
+    [Sandbox]
+    public float SpeedLeft;
+
+    [AsUpperIO(desc = "右轮下发速度", timeOutReset = true)]
+    [Sandbox]
+    public float SpeedRight;
+
+    [AsLowerIO(desc = "左轮实际速度")]
+    [Sandbox]
+    public float ActualSpeedLeft;
+
+    [AsLowerIO(desc = "右轮实际速度")]
+    [Sandbox]
+    public float ActualSpeedRight;
+
+    [AsInitParam(desc = "手动最大轮速(m/s)")]
+    public float MaxManualSpeed = 0.3f;
+
+    public override void Init()
+    {
+        Console.WriteLine("[DiffWheelM] Minimal Medulla cart initialized.");
+    }
+}
@@ -0,0 +1,31 @@
+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <Platforms>AnyCPU</Platforms>
+    <AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
+    <OutputPath>..\build\Medulla\plugins\</OutputPath>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <Reference Include="CartActivator">
+      <HintPath>D:\MDCS\Dependencies\Medulla\RefCartActivator.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="MedullaCore">
+      <HintPath>D:\MDCS\Dependencies\Medulla\RefMedullaCore.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="Medulla">
+      <HintPath>D:\MDCS\Dependencies\Medulla\RefMedulla2.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="FundamentalLib">
+      <HintPath>D:\MDCS\Dependencies\deps\RefFundamentalLib.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+  </ItemGroup>
+
+</Project>
@@ -0,0 +1,11 @@
+using CartActivator;
+
+namespace DiffWheelM;
+
+public class MotorRoutine : LadderLogic<CartDefinition>
+{
+    public override void Operation(int iteration)
+    {
+        
+    }
+}
@@ -0,0 +1,31 @@
+using CartActivator;
+
+namespace DiffWheelM;
+
+public class Remote : ManualController<CartDefinition>
+{
+    [AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
+    public Stick Direction;
+
+    [AsControlItem(name = "速度比例", keyboard = "Q,W")]
+    public Throttle SpeedRatio;
+
+    public override void Operation()
+    {
+        var maxSpeed = Math.Max(0, cart.MaxManualSpeed);
+        var speedRatio = Math.Clamp(SpeedRatio.val, 0, 1);
+
+        var left = Direction.y - Direction.x;
+        var right = Direction.y + Direction.x;
+        var wheelScale = Math.Max(1, Math.Max(Math.Abs(left), Math.Abs(right)));
+
+        left = left / wheelScale * maxSpeed * speedRatio;
+        right = right / wheelScale * maxSpeed * speedRatio;
+
+        cart.SpeedLeft = Math.Clamp(left, -maxSpeed, maxSpeed);
+        cart.SpeedRight = Math.Clamp(right, -maxSpeed, maxSpeed);
+
+        statusText = $"L={cart.SpeedLeft:0.000}m/s, R={cart.SpeedRight:0.000}m/s";
+    }
+}
+