添加差速舵轮旋转中心前馈与遥控器模式防抖，并补充ParkingRobot解决方案

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-04 18:04:17 +08:00
parent 31ec941b07
commit 7447317812
8 changed files with 279 additions and 27 deletions
@@ -67,6 +67,8 @@ namespace MedullaAdapter
        [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;
+        [AsInitParam(desc = "实体遥控器SB模式防抖时间，单位ms")]
+        public int TransmitterModeDebounceMilliseconds = 200;
        [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;