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)]
    [Playground]
    public float SpeedLeft;

    [AsUpperIO(desc = "右轮下发速度", timeOutReset = true)]
    [Playground]
    public float SpeedRight;

    [AsLowerIO(desc = "左轮实际速度")]
    [Playground]
    public float ActualSpeedLeft;

    [AsLowerIO(desc = "右轮实际速度")]
    [Playground]
    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.");
    }
}