71 lines
3.1 KiB
C#
71 lines
3.1 KiB
C#
 
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using System;
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using System.Numerics;
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using ClumsyCore;
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using ClumsyCore.Interfaces;
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using ClumsyCore.Pilot;
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using MDCSToolBox.Clumsy.MotionControllers;
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using MDCSToolBox.Clumsy.Movements;
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using MDCSToolBox.Clumsy.Pilot;
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namespace MultiWheelC;
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public class ChassisController : MovementDefinition<MultiWheelGeometricController>
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{
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public float BaseSpeed = Configuration.conf.basicSpeed;
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public override MultiWheelGeometricController Get()
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{
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return new MultiWheelGeometricController
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{
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Chassis = BasicPilotBase.Chassis,
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BaseSpeed = BaseSpeed,
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SlowDistance = PilotDefinition.Conf.SlowDistance,
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SlowingPow = PilotDefinition.Conf.SlowingPow,
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FinishDistance = PilotDefinition.Conf.FinishDistance,
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FinishSpeed = PilotDefinition.Conf.FinishSpeed,
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FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
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FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
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FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
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NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
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DebugMode = PilotDefinition.Conf.MotionDebugPrint,
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DebugCurvature = PilotDefinition.Conf.DebugCurvature,
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PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
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SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
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SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
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SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
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SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
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SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
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MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
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MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
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GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
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DthLinearFac = PilotDefinition.Conf.DthLinearFac,
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DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
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BiasFac = PilotDefinition.Conf.BiasFac,
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BiasThreshold = PilotDefinition.Conf.BiasThreshold,
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MultiVehicleSendMotion = (speed, frontTh, rearTh, idealPos, idealAngle) =>
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{
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PilotDefinition.Self.MultiVehicleAutoEnabled = true;
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lock (PilotDefinition.Self.MultiVehicleFleet)
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{
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if (PilotDefinition.Self.MultiVehicleFleet.Count != PilotDefinition.Conf.MultiVehicleFleetNum)
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return;
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}
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PilotDefinition.Self.MultiVehicleAutoVx = speed;
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PilotDefinition.Self.MultiVehicleAutoFrontTh = frontTh;
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PilotDefinition.Self.MultiVehicleAutoRearTh = rearTh;
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},
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MultiVehicleGetFleetPos = () => new Location
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{
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x = PilotDefinition.Self.CenterX,
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y = PilotDefinition.Self.CenterY,
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th = PilotDefinition.Self.CenterTh,
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l_step = 1,
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tick = DateTime.Now.Ticks
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}
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};
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}
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}
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