48 lines
1.5 KiB
C#
48 lines
1.5 KiB
C#
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using System;
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using System.Collections.Generic;
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using System.Text;
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using CartActivator;
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using MDCSToolBox.Medulla.Chassis.MultiWheel;
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namespace MedullaAdapter
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{
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public class Remote:MultiWheelRemote<DiverCartDefinition>
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{
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[AsControlItem(name = "夹抱速度", LayoutRow = 0, LayoutCol = 4)]
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public Throttle ArmSpeed;
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[AsControlItem(name = "夹抱打开", LayoutRow = 1, LayoutCol = 0)]
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public Button Open;
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[AsControlItem(name = "夹抱关闭", LayoutRow = 1, LayoutCol = 2)]
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public Button Close;
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public override void MultiVehicleModeChassisLogic()
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{
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// cart.MultiVehicleRemoteManualEnabled = true;
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// cart.MultiVehicleManualEnabled = true;
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// cart.MultiVehicleManualVx = SpeedPad.y * SpeedThreshold.val;
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// cart.MultiVehicleManualVth = -(float)Math.Pow(Math.Abs(SpeedPad.x), cart.ManualThetaPow) * Math.Sign(SpeedPad.x);
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}
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public override void CustomOperation()
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{
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if (Open.pressed)
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{
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cart.SpeedLeftArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
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cart.SpeedRightArm = -ArmSpeed.val * cart.ManualArmSpeedFac;
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}
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else if (Close.pressed)
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{
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cart.SpeedLeftArm = ArmSpeed.val * cart.ManualArmSpeedFac;
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cart.SpeedRightArm = ArmSpeed.val * cart.ManualArmSpeedFac;
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}
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else
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{
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cart.SpeedLeftArm = 0;
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cart.SpeedRightArm = 0;
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}
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}
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}
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}
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