The current work remains focused on the **single robot** and is in chassis integration, feature development, and tracking experiments. Multi-robot settings remain inside the `#if false` section of `MultiWheelC/PilotConfig.cs`, while `Shared/Fleet/FleetKinematics.cs` is still a placeholder. These files do not represent an implemented multi-robot system.
| 2. Add parking functions | Partially started | Clamp control, limits, and alarms are connected; the clamp movement tests are currently commented out, while tire recognition, vehicle entry, and the complete parking workflow are not implemented |
| 3. Improve tracking | Started | Legacy `SendMotion` tests remain, with new Stanley lateral + PID longitudinal control, composite motion plans, experiment CSVs, and a new plotting tool |
MyParking is a C# project for a multi-wheel parking-robot chassis. It covers upper-layer actions, shared kinematics, lower-layer hardware adaptation, and experiment-data analysis.
-`MultiWheelC`: Clumsy upper layer (C layer) for actions, tracking, manual tests, and experiment recording;
-`MedullaAdapter`: Medulla lower layer (M layer) for MCU, CAN, serial, wheel, clamp, remote-control, and alarm adaptation;
-`Shared`: M/C-shared 2D coordinates, chassis commands, frame transforms, and multi-wheel adaptation (no standalone `.csproj`; compiled into both ends);
No ROS/ROS 2, Docker, or Web simulator project is present. The plugins are loaded by Clumsy / Medulla hosts and cannot be started independently with `dotnet run`.
| Tracking | Legacy destination, line, and crab tracking; new Stanley lateral control, PID longitudinal control, front/rear GCP allocation, path-deviation protection, and terminal-state checks |
| State estimation | Detour pose and differentiated velocity; new experiments can retain the Detour pose while replacing its differentiated longitudinal velocity with a low-pass-filtered body velocity derived from steer-wheel feedback |
`MultiWheelC` and `MedullaAdapter` build as plugin libraries that require their respective hosts. `CommonUsage` is an independent chassis library and must not depend back on `Shared`, the M layer, or the C layer.
## Coordinates and Units
-`Shared` uses SI units: m, m/s, rad, rad/s.
- Body frame: X forward, Y left, counterclockwise positive.
- Legacy API units are converted only at boundaries.
- Angle normalization, shortest angular difference, and degree/radian conversion use `Shared/Mathematics/AngleMath.cs`.
- Radian normalization range is `[-π, π)`; degree normalization range is `[-180°, 180°)`.
- Vehicle heading may use the shortest circular difference; mechanical steering error under the `[-120°, 120°]` limit must use target minus actual directly.
The root `ParkingRobot.sln` includes `CommonUsage`, `MedullaAdapter`, and `MultiWheelC` for opening the repo in Visual Studio. `Shared` has no standalone project and is compiled into the M/C projects. Packaging still uses `build-and-package.ps1`.
`docs/chassis参考.json` is a chassis-parameter example. No automatic loader for it was found in the source. Treat the actual host configuration as authoritative.
Before physical testing, verify the port, vehicle ID, steering zero and limits, speed units, motor direction, clamp limits, and emergency-stop chain. Begin with lifted drive wheels or a segregated low-speed, short-distance test area and retain an independent physical emergency stop; never rely on software stopping alone.
These are run through the Clumsy host's test interface and are not an automated `dotnet test` suite. Motion tests record the experiment number, reference path, Detour pose, wheel-derived velocity, and control commands according to their configuration. The clamp tests in `MultiWheelC/Experiments/ClampTests.cs` are currently commented out in full and are not registered with the host.
The tracking recorder saves CSV files under the host application's:
```text
TrackingExperiments/
```
Medulla wheel-speed diagnostics can be controlled with the `StartWheelSpeedDiagnostic` and `StopWheelSpeedDiagnostic` utility buttons. Their default output directory is:
This tool creates one six-panel summary for each new-controller CSV, covering the path, lateral/heading errors, speed, and front/rear GCP and four-wheel steering angles. When no CSV is passed, it scans only the `data_process` root and its `data` subdirectory.
- Steering soft-limit prediction and automatic body reorientation; only the design document [`docs/SteeringConstraintDesign.md`](docs/SteeringConstraintDesign.md) exists today;
