增加差速电机前馈与控制器曲率预瞄

MedullaAdapter/DiverCartDefinition.cs

@@ -64,6 +64,16 @@ namespace MedullaAdapter
         #endregion
 
         #region  初始参数
+
+        [AsInitParam(desc = "差速转舵目标角速度前馈增益")]
+        public float DiffSteerRateFeedforwardGain = 0.9f;
+
+        [AsInitParam(desc = "差速舵轮左右轮间距，单位mm")]
+        public float DiffSteerWheelDistanceMillimeters = 85f;
+
+        [AsInitParam(desc = "差速转舵前馈最大速度，单位m/s")]
+        public float DiffSteerRateFeedforwardMaximumSpeed = 0.03f;
+
         [AsInitParam(desc = "MCU端口号")] public string MCUPort = "COM4";
         [AsInitParam(desc = "遥控器速度上限")] public float TransmitterSpeedUpperLimit = 1.0f;
         [AsInitParam(desc = "遥控器速度下限")] public float TransmitterSpeedLowerLimit = 0.0f;
@@ -100,6 +110,14 @@ namespace MedullaAdapter
         [IOObjectMonitor(desc = "左后舵轮转向PID输出")] public float DiffSteerOutputLeftRear;
         [IOObjectMonitor(desc = "右前舵轮转向PID输出")] public float DiffSteerOutputRightFront;
         [IOObjectMonitor(desc = "右后舵轮转向PID输出")] public float DiffSteerOutputRightRear;
+        [IOObjectMonitor(desc = "左前舵轮目标角速度前馈输出")] public float DiffSteerRateFeedforwardLeftFront;
+        [IOObjectMonitor(desc = "左后舵轮目标角速度前馈输出")] public float DiffSteerRateFeedforwardLeftRear;
+        [IOObjectMonitor(desc = "右前舵轮目标角速度前馈输出")] public float DiffSteerRateFeedforwardRightFront;
+        [IOObjectMonitor(desc = "右后舵轮目标角速度前馈输出")] public float DiffSteerRateFeedforwardRightRear;
+        [IOObjectMonitor(desc = "左前舵轮转向合成差速输出")] public float DiffSteerTotalOutputLeftFront;
+        [IOObjectMonitor(desc = "左后舵轮转向合成差速输出")] public float DiffSteerTotalOutputLeftRear;
+        [IOObjectMonitor(desc = "右前舵轮转向合成差速输出")] public float DiffSteerTotalOutputRightFront;
+        [IOObjectMonitor(desc = "右后舵轮转向合成差速输出")] public float DiffSteerTotalOutputRightRear;
         [IOObjectMonitor(desc = "灯光模式")] public int LightMode = 0;
         [IOObjectMonitor(desc = "实体遥控器当前速度倍率")] public float TransmitterSpeed = 0.3f;
         [IOObjectMonitor(desc = "轮速诊断记录已启用")]