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>
61 lines
1.6 KiB
JSON
61 lines
1.6 KiB
JSON
{
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"basicSpeed": 0.2,
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"DriveTaskInterval": 50,
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"script": "MultiWheelC.dll",
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"detourHost": "127.0.0.1",
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"detourPort": 4421,
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"msConf": {
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"MultiVehicleMasterEndpoint": "127.0.0.1:8008",
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"MultiVehicleFleetNum": 2,
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"MultiVehicleSyncInterval": 50,
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"TestCarSyncDistance": 2400,
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"TestCarSyncTh": 0,
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"ManualCarSyncVxFac": 1.0,
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"ManualCarSyncVthFac": 1.0,
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"SyncThAccPerSec": 30,
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"PosAvailable": true,
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"SimpleIp": "127.0.0.1",
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"CarNum": 2
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},
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"layout": {
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"chassis": {
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"width": 1000,
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"length": 1550,
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"contour": [
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750, -500, -750, -500, -750, -300, -800, -280, -800, -220,
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-750, -200, -750, 200, -800, 220, -800, 280, -750, 300,
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-750, 500, 750, 500
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]
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},
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"components": [
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{
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"type": "lidar2d",
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"options": {
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"name": "front_lidar_2",
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"x": 700, "y": 0, "yaw": 0, "z": 0, "pitch": 0, "roll": 0,
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"isCircle": false, "ignoreDist": 100, "maxDist": 200000,
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"filterChassis": true
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}
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},
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{
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"type": "lidar2d",
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"options": {
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"name": "rear_left_lidar_2",
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"x": -700, "y": 450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
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"isCircle": false, "ignoreDist": 100, "maxDist": 200000,
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"filterChassis": true
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}
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},
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{
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"type": "lidar2d",
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"options": {
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"name": "rear_right_lidar_2",
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"x": -700, "y": -450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
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"isCircle": false, "ignoreDist": 100, "maxDist": 200000,
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"filterChassis": true
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}
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}
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]
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}
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}
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