32 lines
1007 B
C#
32 lines
1007 B
C#
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using CartActivator;
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namespace DiffWheelM;
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public class Remote : ManualController<CartDefinition>
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{
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[AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
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public Stick Direction;
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[AsControlItem(name = "速度比例", keyboard = "Q,W")]
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public Throttle SpeedRatio;
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public override void Operation()
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{
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var maxSpeed = Math.Max(0, cart.MaxManualSpeed);
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var speedRatio = Math.Clamp(SpeedRatio.val, 0, 1);
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var left = Direction.y - Direction.x;
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var right = Direction.y + Direction.x;
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var wheelScale = Math.Max(1, Math.Max(Math.Abs(left), Math.Abs(right)));
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left = left / wheelScale * maxSpeed * speedRatio;
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right = right / wheelScale * maxSpeed * speedRatio;
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cart.SpeedLeft = Math.Clamp(left, -maxSpeed, maxSpeed);
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cart.SpeedRight = Math.Clamp(right, -maxSpeed, maxSpeed);
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statusText = $"L={cart.SpeedLeft:0.000}m/s, R={cart.SpeedRight:0.000}m/s";
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}
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}
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