71 lines
2.4 KiB
C#
71 lines
2.4 KiB
C#
using CartActivator;
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namespace MultiWheelM;
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public class Remote : ManualController<CartDefinition>
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{
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[AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
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public Stick SpeedPad;
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[AsControlItem(name = "速度比例", keyboard = "Q,W")]
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public Throttle SpeedRatio;
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[AsControlItem(name = "旋转模式", keyboard = "R")]
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public Switch SpinMode;
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[AsControlItem(name = "横移模式", keyboard = "C")]
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public Switch CrabMode;
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[AsControlItem(name = "斜行模式", keyboard = "S")]
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public Switch SwayMode;
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[AsControlItem(name = "车头方向", keyboard = "A,D")]
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public DThrottle FrontDirection;
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public override void Operation()
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{
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var speedThreshold = Math.Clamp(SpeedRatio.val, 0, 1) * Math.Max(0, cart.MaxManualSpeed);
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var speed = Math.Clamp(SpeedPad.y, -1, 1) * speedThreshold;
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var steerInput = Math.Clamp(SpeedPad.x, -1, 1);
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var steering = (float)Math.Pow(Math.Abs(steerInput), cart.ManualThetaPow) * Math.Sign(steerInput);
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var frontTh = -steering * cart.MaxManualTheta;
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var rearTh = steering * cart.MaxManualTheta;
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var frontDirection = Math.Clamp(FrontDirection.dval, -1, 1) * 180;
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if (SpinMode.on)
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{
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var direction = steerInput == 0 ? Math.Sign(speed) : steerInput;
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cart.Chassis.SendRotateMotion(direction * cart.MaxManualAngularSpeed * Math.Clamp(SpeedRatio.val, 0, 1));
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cart.ManualMode = 1;
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statusText = $"spin, w={direction * cart.MaxManualAngularSpeed:0.0}deg/s";
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return;
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}
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if (CrabMode.on)
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{
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cart.Chassis.SetOriginBias(0, 0, 90);
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cart.Chassis.SendMotion(speed, frontTh, rearTh);
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cart.ManualMode = 2;
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statusText = $"crab, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
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return;
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}
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if (SwayMode.on)
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{
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cart.Chassis.SetOriginBias(0, 0, frontDirection);
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cart.Chassis.SendMotion(speed, frontTh, -rearTh);
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cart.ManualMode = 3;
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statusText = $"sway, v={speed:0.000}, front={frontTh:0.0}, rear={-rearTh:0.0}";
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return;
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}
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cart.Chassis.SetOriginBias(0, 0, frontDirection);
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cart.Chassis.SendMotion(speed, frontTh, rearTh);
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cart.ManualMode = 0;
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statusText = $"normal, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
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}
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}
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