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Initial tutorial project

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This commit is contained in:
ruifeng.zhou
2026-06-19 23:12:05 +08:00
commit e5aeae9c33
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MultiWheelM/CartDefinition.cs
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using CartActivator;
using CommonUsage.Chassis;
using System.Numerics;
namespace MultiWheelM;
[UseManualController(manualController = typeof(Remote))]
[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
public class CartDefinition : CartActivator.CartDefinition
{
[AsUpperIO(desc = "左前轮速度", timeOutReset = true)]
[Playground]
public float SpeedLeftFront;
[AsUpperIO(desc = "左后轮速度", timeOutReset = true)]
[Playground]
public float SpeedLeftRear;
[AsUpperIO(desc = "右前轮速度", timeOutReset = true)]
[Playground]
public float SpeedRightFront;
[AsUpperIO(desc = "右后轮速度", timeOutReset = true)]
[Playground]
public float SpeedRightRear;
[AsLowerIO(desc = "左前轮速度反馈")]
[Playground]
public float ActualSpeedLeftFront;
[AsLowerIO(desc = "左后轮速度反馈")]
[Playground]
public float ActualSpeedLeftRear;
[AsLowerIO(desc = "右前轮速度反馈")]
[Playground]
public float ActualSpeedRightFront;
[AsLowerIO(desc = "右后轮速度反馈")]
[Playground]
public float ActualSpeedRightRear;
[AsUpperIO(desc = "左前轮转向角度", timeOutReset = true)]
[Playground]
public float ThLeftFront;
[AsUpperIO(desc = "左后轮转向角度", timeOutReset = true)]
[Playground]
public float ThLeftRear;
[AsUpperIO(desc = "右前轮转向角度", timeOutReset = true)]
[Playground]
public float ThRightFront;
[AsUpperIO(desc = "右后轮转向角度", timeOutReset = true)]
[Playground]
public float ThRightRear;
[AsLowerIO(desc = "左前轮转向角度反馈")]
[Playground]
public float ActualThLeftFront;
[AsLowerIO(desc = "左后轮转向角度反馈")]
[Playground]
public float ActualThLeftRear;
[AsLowerIO(desc = "右前轮转向角度反馈")]
[Playground]
public float ActualThRightFront;
[AsLowerIO(desc = "右后轮转向角度反馈")]
[Playground]
public float ActualThRightRear;
[AsLowerIO(desc = "遥控模式")]
public int ManualMode = -1;
[AsInitParam(desc = "手动最大速度(m/s)")]
public float MaxManualSpeed = 0.3f;
[AsInitParam(desc = "手动最大自旋角速度(deg/s)")]
public float MaxManualAngularSpeed = 45f;
[AsInitParam(desc = "手动最大转向角度(deg)")]
public float MaxManualTheta = 45f;
[AsInitParam(desc = "遥控转向输入幂数")]
public float ManualThetaPow = 2f;
[AsInitParam(desc = "舵轮前后半轴距(mm)")]
public float WheelBaseHalfLength = 750f;
[AsInitParam(desc = "舵轮左右半轮距(mm)")]
public float WheelTrackHalfWidth = 500f;
[AsInitParam(desc = "舵轮最小角度(deg)")]
public float WheelAngleLowerLimit = -120f;
[AsInitParam(desc = "舵轮最大角度(deg)")]
public float WheelAngleUpperLimit = 120f;
[AsInitParam(desc = "底盘速度加速度(m/s^2)")]
public float ChassisAccPerSecond = 0.3f;
[AsInitParam(desc = "底盘速度减速度(m/s^2)")]
public float ChassisDeAccPerSecond = 0.5f;
[AsInitParam(desc = "转向最低速度系数")]
public float ChassisMinTurnSpeedFac = 0.25f;
[AsInitParam(desc = "几何控制点半径(mm)")]
public float ChassisControlPointRadius = 500f;
[AsInitParam(desc = "几何控制点转角速度(deg/s)")]
public float ChassisGcpThetaPerSecond = 10f;
[AsInitParam(desc = "阿克曼最小转向角(deg)")]
public float ChassisMinimumTurningAngleForAckermann = 60f;
public MultiWheelChassis Chassis = null!;
public override void Init()
{
Chassis = new MultiWheelChassis
{
MaxSpeed = MaxManualSpeed,
AccPerSecond = ChassisAccPerSecond,
DeAccPerSecond = ChassisDeAccPerSecond,
MinTurnSpeedFac = ChassisMinTurnSpeedFac,
ControlPointRadius = ChassisControlPointRadius,
GcpThetaPerSecond = ChassisGcpThetaPerSecond,
MinimumTurningAngleForAckermann = ChassisMinimumTurningAngleForAckermann
};
Chassis.AddWheel(new SteerWheel(
new Vector2(WheelBaseHalfLength, WheelTrackHalfWidth),
WheelAngleLowerLimit,
WheelAngleUpperLimit,
speed => SpeedLeftFront = speed,
() => ActualSpeedLeftFront,
angle => ThLeftFront = angle,
() => ActualThLeftFront));
Chassis.AddWheel(new SteerWheel(
new Vector2(-WheelBaseHalfLength, WheelTrackHalfWidth),
WheelAngleLowerLimit,
WheelAngleUpperLimit,
speed => SpeedLeftRear = speed,
() => ActualSpeedLeftRear,
angle => ThLeftRear = angle,
() => ActualThLeftRear));
Chassis.AddWheel(new SteerWheel(
new Vector2(WheelBaseHalfLength, -WheelTrackHalfWidth),
WheelAngleLowerLimit,
WheelAngleUpperLimit,
speed => SpeedRightFront = speed,
() => ActualSpeedRightFront,
angle => ThRightFront = angle,
() => ActualThRightFront));
Chassis.AddWheel(new SteerWheel(
new Vector2(-WheelBaseHalfLength, -WheelTrackHalfWidth),
WheelAngleLowerLimit,
WheelAngleUpperLimit,
speed => SpeedRightRear = speed,
() => ActualSpeedRightRear,
angle => ThRightRear = angle,
() => ActualThRightRear));
Chassis.Initialize();
Console.WriteLine("[MultiWheelM] Minimal multi-wheel Medulla cart initialized with CommonUsage chassis geometry.");
}
}
MultiWheelM/MotorRoutine.cs
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using CartActivator;
namespace MultiWheelM;
public class MotorRoutine : LadderLogic<CartDefinition>
{
public override void Operation(int iteration)
{
}
}
MultiWheelM/MultiWheelM.csproj
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<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\Release\Medulla\RefCartActivator.dll</HintPath>
<Private>False</Private>
</Reference>
<Reference Include="MedullaCore">
<HintPath>D:\MDCS\Release\Medulla\RefMedullaCore.dll</HintPath>
<Private>False</Private>
</Reference>
<Reference Include="Medulla">
<HintPath>D:\MDCS\Release\Medulla\RefMedulla2.dll</HintPath>
<Private>False</Private>
</Reference>
<Reference Include="FundamentalLib">
<HintPath>D:\MDCS\Dependencies\deps\RefFundamentalLib.dll</HintPath>
<Private>False</Private>
</Reference>
<Reference Include="CommonUsage">
<HintPath>D:\MDCS\Dependencies\Commons\CommonUsage.dll</HintPath>
</Reference>
</ItemGroup>
</Project>
MultiWheelM/Remote.cs
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using CartActivator;
namespace MultiWheelM;
public class Remote : ManualController<CartDefinition>
{
[AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
public Stick SpeedPad;
[AsControlItem(name = "速度比例", keyboard = "Q,W")]
public Throttle SpeedRatio;
[AsControlItem(name = "旋转模式", keyboard = "R")]
public Switch SpinMode;
[AsControlItem(name = "横移模式", keyboard = "C")]
public Switch CrabMode;
[AsControlItem(name = "斜行模式", keyboard = "S")]
public Switch SwayMode;
[AsControlItem(name = "车头方向", keyboard = "A,D")]
public DThrottle FrontDirection;
public override void Operation()
{
var speedThreshold = Math.Clamp(SpeedRatio.val, 0, 1) * Math.Max(0, cart.MaxManualSpeed);
var speed = Math.Clamp(SpeedPad.y, -1, 1) * speedThreshold;
var steerInput = Math.Clamp(SpeedPad.x, -1, 1);
var steering = (float)Math.Pow(Math.Abs(steerInput), cart.ManualThetaPow) * Math.Sign(steerInput);
var frontTh = -steering * cart.MaxManualTheta;
var rearTh = steering * cart.MaxManualTheta;
var frontDirection = Math.Clamp(FrontDirection.dval, -1, 1) * 180;
if (SpinMode.on)
{
var direction = steerInput == 0 ? Math.Sign(speed) : steerInput;
cart.Chassis.SendRotateMotion(direction * cart.MaxManualAngularSpeed * Math.Clamp(SpeedRatio.val, 0, 1));
cart.ManualMode = 1;
statusText = $"spin, w={direction * cart.MaxManualAngularSpeed:0.0}deg/s";
return;
}
if (CrabMode.on)
{
cart.Chassis.SetOriginBias(0, 0, 90);
cart.Chassis.SendMotion(speed, frontTh, rearTh);
cart.ManualMode = 2;
statusText = $"crab, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
return;
}
if (SwayMode.on)
{
cart.Chassis.SetOriginBias(0, 0, frontDirection);
cart.Chassis.SendMotion(speed, frontTh, -rearTh);
cart.ManualMode = 3;
statusText = $"sway, v={speed:0.000}, front={frontTh:0.0}, rear={-rearTh:0.0}";
return;
}
cart.Chassis.SetOriginBias(0, 0, frontDirection);
cart.Chassis.SendMotion(speed, frontTh, rearTh);
cart.ManualMode = 0;
statusText = $"normal, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
}
}