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
@@ -0,0 +1,95 @@
+{
+  "MaxManualSpeed": 0.3,
+  "MaxManualAngularSpeed": 45.0,
+  "test3": 24,
+  "trigger": 0,
+  "ManualArmSpeedFac": 5.0,
+  "CarNum": 1,
+  "MusicVolume": 5,
+  "LeftArmLowerPos": -76358,
+  "LeftArmUpperPos": 38224,
+  "RightArmLowerPos": -41976,
+  "RightArmUpperPos": 73519,
+  "MCUPort": "COM3",
+  "TransmitterSpeedUpperLimit": 1.0,
+  "TransmitterSpeedLowerLimit": 0.0,
+  "ThBiasLeftFront": -342.0,
+  "ThBiasLeftRear": -185.35,
+  "ThBiasRightFront": -58.5,
+  "ThBiasRightRear": -1198.85,
+  "TurnAccSpeed": 1000.0,
+  "MaxManualTheta": 45.0,
+  "IsDiffSteer": true,
+  "ManualThetaPow": 2.0,
+  "DiffSteerKp": 0.003,
+  "DiffSteerKi": 0.0,
+  "DiffSteerKd": 0.0,
+  "DiffSteerMaxI": 0.0,
+  "DiffSteerThresh": 0.3,
+  "DiffSteerDeadZone": 0.1,
+  "DiffSteerSpeedAcc": 1.0,
+  "Ghost_ActualSpeedLeftFront_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftFront_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedLeftRear_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftRear_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightFront_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightFront_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightRear_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightRear_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedLeftFrontLeft_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftFrontLeft_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedLeftFrontRight_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftFrontRight_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedLeftRearLeft_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftRearLeft_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedLeftRearRight_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedLeftRearRight_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightFrontLeft_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightFrontLeft_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightFrontRight_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightFrontRight_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightRearLeft_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightRearLeft_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualSpeedRightRearRight_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualSpeedRightRearRight_GhostPIDUpdater_threshold": 200.0,
+  "Ghost_ActualThLeftFront_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualThLeftFront_GhostPIDUpdater_threshold": 5.0,
+  "Ghost_ActualThLeftRear_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualThLeftRear_GhostPIDUpdater_threshold": 5.0,
+  "Ghost_ActualThRightFront_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualThRightFront_GhostPIDUpdater_threshold": 5.0,
+  "Ghost_ActualThRightRear_GhostPIDUpdater_kp": 0.5,
+  "Ghost_ActualThRightRear_GhostPIDUpdater_threshold": 5.0,
+  "WheelAngleChangeLimit": 20.0,
+  "ElectricDebugMode": false,
+  "PostGPSToDetour": false,
+  "GPSBaseLongitude": 0.0,
+  "GPSBaseLatitude": 0.0,
+  "GPSInCarX": 0.0,
+  "GPSInCarY": 0.0,
+  "GPSInCarTh": 0.0,
+  "LowBatteryAlarmThreshold": 15.0,
+  "LowBatteryStopThreshold": 10.0,
+  "GhostMode": false,
+  "QrMode": false,
+  "GhostEnableSimBattery": false,
+  "GhostTimeBatteryFac": 600.0,
+  "ReductionRatio": 1.74,
+  "WheelDiameter": 165.0,
+  "CloseMusic": false,
+  "IOObstaclSlowFac": 0.5,
+  "ManualSpeed": 0.2,
+  "ManualRotateSpeed": 10.0,
+  "GamepadRotateSpeed": 1.0,
+  "RecoveryTime": 2000.0,
+  "ManualModeArea": 0,
+  "ManualModeIOArea": 1,
+  "UseLessTag": true,
+  "MaxAngularSpeed": 75.0,
+  "SafetyRelayShielded": false,
+  "SafetyRelayShieldedRleaseTime": 30,
+  "RotateIoArea": 16,
+  "ChargeMaxThreshold": 95.0,
+  "TransmitterCOMNum": "COM5",
+  "UseTransmitter": true
+}