ruifeng.zhouandCursor
235c6c70ac
Restructure into DiffWheel/MultiWheel folders, add DiffWheelC and MultiWheelC with MovementTests, FleetRemote multi-vehicle manual sync, deploy templates, and documentation. Update dependency paths to D:\MDCS\Release and mirror motor feedback in MotorRoutine for simulation. Co-authored-by: Cursor <cursoragent@cursor.com>
33 lines
868 B
C#
33 lines
868 B
C#
using CartActivator;
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namespace DiffWheelM;
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[UseManualController(manualController = typeof(Remote))]
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[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
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public class CartDefinition : CartActivator.CartDefinition
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{
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[AsUpperIO(desc = "左轮下发速度", timeOutReset = true)]
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[Playground]
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public float SpeedLeft;
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[AsUpperIO(desc = "右轮下发速度", timeOutReset = true)]
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[Playground]
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public float SpeedRight;
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[AsLowerIO(desc = "左轮实际速度")]
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[Playground]
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public float ActualSpeedLeft;
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[AsLowerIO(desc = "右轮实际速度")]
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[Playground]
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public float ActualSpeedRight;
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[AsInitParam(desc = "手动最大轮速(m/s)")]
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public float MaxManualSpeed = 0.3f;
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public override void Init()
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{
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Console.WriteLine("[DiffWheelM] Minimal Medulla cart initialized.");
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}
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}
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