限制单车自转角速度并更新底盘配置与项目文档

MedullaAdapter/DiverCartDefinition.cs

@@ -70,6 +70,8 @@ namespace MedullaAdapter
         [AsInitParam(desc = "手动控制夹臂速度系数")] public float ManualArmSpeedFac = 1.0f;
         [AsInitParam(desc = "遥控转弯舵角同步限速宽度，单位为度")]
         public float ManualSteeringAlignmentSigmaDegrees = 8.0f;
+        [AsInitParam(desc = "自转最大角速度，单位deg/s")]
+        public float MaxSpinAngularSpeedDegreesPerSecond = 30f;
         [AsInitParam(desc = "轮速诊断日志相对目录")]
         public string WheelSpeedDiagnosticDirectory =
             @"logs\wheel-speed";
@@ -335,10 +337,24 @@ namespace MedullaAdapter
 
                     // 自转时speed表示最外侧舵轮中心的目标切向速度，
                     // 根据v=omega*r换算为SendXYThSpeed需要的角速度。
-                    var spinOmegaRadiansPerSecond =
+                    var requestedSpinOmegaRadiansPerSecond =
                         speed /
                         adapter.MaximumWheelRadiusMeters;
 
+                    // 对半径换算结果做正负对称限幅，防止遥控速度参数误设后自转过快。
+                    var maximumSpinOmegaRadiansPerSecond =
+                        Math.Max(
+                            0f,
+                            MaxSpinAngularSpeedDegreesPerSecond) *
+                        Math.PI / 180.0;
+
+                    var spinOmegaRadiansPerSecond =
+                        Math.Max(
+                            -maximumSpinOmegaRadiansPerSecond,
+                            Math.Min(
+                                maximumSpinOmegaRadiansPerSecond,
+                                requestedSpinOmegaRadiansPerSecond));
+
                     // 普通安全版SendXYThSpeed只下发角速度，
                     // 四轮实际舵角未到位时不会开放驱动速度。
                     if (!adapter.Send(