Initial commit from MyParking project

2026-08-04 10:29:21 +08:00
commit d9432bd529
138 changed files with 16957 additions and 0 deletions
@@ -0,0 +1,45 @@
+using ClumsyCore;
+using ClumsyCore.Pilot;
+using MDCSToolBox.Clumsy.MotionControllers;
+using MDCSToolBox.Clumsy.Movements;
+using MDCSToolBox.Clumsy.Pilot;
+
+namespace MultiWheelC;
+
+public class ChassisController : MovementDefinition<MultiWheelGeometricController>
+{
+    public float BaseSpeed = Configuration.conf.basicSpeed;
+
+    // 创建单车几何跟踪控制器（直接控本车底盘，不走多车 Auto 通道）
+    public override MultiWheelGeometricController Get()
+    {
+        return new MultiWheelGeometricController
+        {
+            Chassis = BasicPilotBase.Chassis,
+            BaseSpeed = BaseSpeed,
+            SlowDistance = PilotDefinition.Conf.SlowDistance,
+            SlowingPow = PilotDefinition.Conf.SlowingPow,
+            FinishDistance = PilotDefinition.Conf.FinishDistance,
+            FinishSpeed = PilotDefinition.Conf.FinishSpeed,
+            FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
+            FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
+            FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
+            NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
+            DebugMode = PilotDefinition.Conf.MotionDebugPrint,
+            DebugCurvature = PilotDefinition.Conf.DebugCurvature,
+            PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
+            SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
+            SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
+            SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
+            SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
+            SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
+            MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
+            MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
+            GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
+            DthLinearFac = PilotDefinition.Conf.DthLinearFac,
+            DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
+            BiasFac = PilotDefinition.Conf.BiasFac,
+            BiasThreshold = PilotDefinition.Conf.BiasThreshold,
+        };
+    }
+}