Add Clumsy plugins and dual-vehicle fleet sync demo.

Restructure into DiffWheel/MultiWheel folders, add DiffWheelC and MultiWheelC with MovementTests, FleetRemote multi-vehicle manual sync, deploy templates, and documentation. Update dependency paths to D:\MDCS\Release and mirror motor feedback in MotorRoutine for simulation.

Co-authored-by: Cursor <cursoragent@cursor.com>

DiffWheel/DiffWheelC/AGV.cs

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+using System;
+using MDCSToolBox.Clumsy.AgvInterfaces;
+using MDCSToolBox.Clumsy.MotionControllers;
+
+namespace DiffWheelC;
+
+public class AGV : DiffWheelInterface
+{
+    public override AbstractGeometricController GetController()
+    {
+        return new ChassisController().Get();
+    }
+
+    public override NaiveMagnetController GetNaiveMagnetController()
+    {
+        throw new NotImplementedException("Tutorial DiffWheelC does not implement magnetic tracking.");
+    }
+}

DiffWheel/DiffWheelC/ChassisController.cs

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+using ClumsyCore;
+using ClumsyCore.Pilot;
+using MDCSToolBox.Clumsy.MotionControllers;
+using MDCSToolBox.Clumsy.Pilot;
+
+namespace DiffWheelC;
+
+public class ChassisController : MovementDefinition<DiffWheelGeometricController>
+{
+    public float BaseSpeed = Configuration.conf.basicSpeed;
+
+    public override DiffWheelGeometricController Get()
+    {
+        return new DiffWheelGeometricController
+        {
+            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,
+            NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
+            FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
+            FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
+            DebugMode = PilotDefinition.Conf.MotionDebugPrint,
+            DebugCurvature = PilotDefinition.Conf.DebugCurvature,
+            MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
+            MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
+            SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
+            SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
+            SpeedAccPerSecond = PilotDefinition.Conf.SpeedAccPerSecond,
+            SpeedDeAccPerSecond = PilotDefinition.Conf.SpeedDeAccPerSecond,
+            PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
+            SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
+            SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
+            SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
+        };
+    }
+}

DiffWheel/DiffWheelC/DiffWheelC.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>netstandard2.0</TargetFramework>
+    <LangVersion>10</LangVersion>
+    <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
+    <AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
+    <OutputPath>..\..\build\Clumsy_diff\</OutputPath>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <PackageReference Include="Newtonsoft.Json" Version="13.0.3" />
+    <PackageReference Include="System.Numerics.Vectors" Version="4.6.1" />
+  </ItemGroup>
+
+  <ItemGroup>
+    <Reference Include="ClumsyCore">
+      <HintPath>D:\MDCS\Release\Clumsy\RefClumsyCore.dll</HintPath>
+      <Private>false</Private>
+    </Reference>
+    <Reference Include="ClumsyDance">
+      <HintPath>D:\MDCS\Release\Clumsy\RefClumsyDance.dll</HintPath>
+      <Private>false</Private>
+    </Reference>
+    <Reference Include="CommonUsage">
+      <HintPath>D:\MDCS\Release\CommonUsage.dll</HintPath>
+    </Reference>
+    <Reference Include="FundamentalLib">
+      <HintPath>D:\MDCS\Release\deps\RefFundamentalLib.dll</HintPath>
+      <Private>false</Private>
+    </Reference>
+    <Reference Include="LessokajiWeaverUtilities">
+      <HintPath>D:\MDCS\Release\deps\LessokajiWeaverUtilities.dll</HintPath>
+      <Private>false</Private>
+    </Reference>
+    <Reference Include="MDCSToolBox">
+      <HintPath>D:\MDCS\Release\MDCSToolBox.dll</HintPath>
+    </Reference>
+  </ItemGroup>
+
+  <Target Name="PostBuild" AfterTargets="PostBuildEvent">
+    <Exec Command="if not exist $(SolutionDir)build\Clumsy_diff mkdir $(SolutionDir)build\Clumsy_diff&#xD;&#xA;copy /Y D:\MDCS\Release\Clumsy\ClumsyLite.exe $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\Clumsy\ClumsyLite.deps.json $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\Clumsy\ClumsyLite.runtimeconfig.json $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\Clumsy\RefClumsyCore.dll $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\Clumsy\RefClumsyDance.dll $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\MDCSToolBox.dll $(SolutionDir)build\Clumsy_diff\&#xD;&#xA;copy /Y D:\MDCS\Release\CommonUsage.dll $(SolutionDir)build\Clumsy_diff\" />
+  </Target>
+
+</Project>

DiffWheel/DiffWheelC/MovementTests.cs

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+using System;
+using System.Collections.Generic;
+using System.Threading;
+using ClumsyCore;
+using ClumsyCore.Pilot;
+using CommonUsage.Chassis;
+using MDCSToolBox.Clumsy.Movements;
+using MDCSToolBox.Clumsy.Pilot;
+
+namespace DiffWheelC;
+
+public class DiffForwardTest : MovementDefinition
+{
+    public float Speed = 0.2f;
+    public float DurationSeconds = 2f;
+
+    public override IEnumerable<bool> Get()
+    {
+        var chassis = (DifferentialChassis)BasicPilotBase.Chassis;
+        var end = DateTime.Now.AddSeconds(DurationSeconds);
+        while (DateTime.Now < end)
+        {
+            chassis.SendSpeed(Speed, 0);
+            yield return true;
+        }
+
+        chassis.SendSpeed(0, 0);
+    }
+}
+
+public class DiffRotateTest : MovementDefinition
+{
+    public float AngularSpeed = 30f;
+    public float DurationSeconds = 2f;
+
+    public override IEnumerable<bool> Get()
+    {
+        var chassis = (DifferentialChassis)BasicPilotBase.Chassis;
+        var end = DateTime.Now.AddSeconds(DurationSeconds);
+        while (DateTime.Now < end)
+        {
+            chassis.SendSpeed(0, AngularSpeed);
+            yield return true;
+        }
+
+        chassis.SendSpeed(0, 0);
+    }
+}
+
+[MovementTest(name = "差速-前进2秒")]
+public class DiffForwardMovementTest : MovementTest
+{
+    private DriveTask _task;
+
+    public override void Test()
+    {
+        _task = new DriveTask(new DiffForwardTest().Get());
+        _task.Wait();
+    }
+
+    public override void TestStop() => _task?.Stop();
+}
+
+[MovementTest(name = "差速-原地旋转2秒")]
+public class DiffRotateMovementTest : MovementTest
+{
+    private DriveTask _task;
+
+    public override void Test()
+    {
+        _task = new DriveTask(new DiffRotateTest().Get());
+        _task.Wait();
+    }
+
+    public override void TestStop() => _task?.Stop();
+}

DiffWheel/DiffWheelC/PilotConfig.cs

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+using ClumsyCore;
+using MDCSToolBox.Clumsy.Pilot.DiffWheel;
+
+namespace DiffWheelC;
+
+public class PilotConfig : DiffWheelPilotConfig
+{
+    [FieldMember(desc = "差速车底盘轮距(mm)")] public float ChassisWidth = 600f;
+    [FieldMember(desc = "调度IP")] public string SimpleIp = "127.0.0.1";
+}

DiffWheel/DiffWheelC/PilotDefinition.cs

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+using MDCSToolBox.Clumsy.Pilot.DiffWheel;
+
+namespace DiffWheelC;
+
+public class PilotDefinition : DiffWheelPilotDefinition<PilotConfig, PilotDefinition>
+{
+}

DiffWheel/DiffWheelM/CartDefinition.cs

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+using CartActivator;
+
+namespace DiffWheelM;
+
+[UseManualController(manualController = typeof(Remote))]
+[UseLadderLogic(logic = typeof(MotorRoutine), scanInterval = 50)]
+public class CartDefinition : CartActivator.CartDefinition
+{
+    [AsUpperIO(desc = "左轮下发速度", timeOutReset = true)]
+    [Playground]
+    public float SpeedLeft;
+
+    [AsUpperIO(desc = "右轮下发速度", timeOutReset = true)]
+    [Playground]
+    public float SpeedRight;
+
+    [AsLowerIO(desc = "左轮实际速度")]
+    [Playground]
+    public float ActualSpeedLeft;
+
+    [AsLowerIO(desc = "右轮实际速度")]
+    [Playground]
+    public float ActualSpeedRight;
+
+    [AsInitParam(desc = "手动最大轮速(m/s)")]
+    public float MaxManualSpeed = 0.3f;
+
+    public override void Init()
+    {
+        Console.WriteLine("[DiffWheelM] Minimal Medulla cart initialized.");
+    }
+}

DiffWheel/DiffWheelM/DiffWheelM.csproj

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+<Project Sdk="Microsoft.NET.Sdk">
+
+  <PropertyGroup>
+    <TargetFramework>net8.0</TargetFramework>
+    <ImplicitUsings>enable</ImplicitUsings>
+    <Nullable>enable</Nullable>
+    <Platforms>AnyCPU</Platforms>
+    <AppendTargetFrameworkToOutputPath>false</AppendTargetFrameworkToOutputPath>
+    <OutputPath>..\..\build\Medulla\plugins\</OutputPath>
+  </PropertyGroup>
+
+  <ItemGroup>
+    <Reference Include="CartActivator">
+      <HintPath>D:\MDCS\Release\Medulla\RefCartActivator.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="MedullaCore">
+      <HintPath>D:\MDCS\Release\Medulla\RefMedullaCore.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="Medulla">
+      <HintPath>D:\MDCS\Release\Medulla\RefMedulla2.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+    <Reference Include="FundamentalLib">
+      <HintPath>D:\MDCS\Release\deps\RefFundamentalLib.dll</HintPath>
+      <Private>False</Private>
+    </Reference>
+  </ItemGroup>
+
+</Project>

DiffWheel/DiffWheelM/MotorRoutine.cs

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+using CartActivator;
+
+namespace DiffWheelM;
+
+public class MotorRoutine : LadderLogic<CartDefinition>
+{
+    public override void Operation(int iteration)
+    {
+        cart.ActualSpeedLeft = cart.SpeedLeft;
+        cart.ActualSpeedRight = cart.SpeedRight;
+    }
+}

DiffWheel/DiffWheelM/Remote.cs

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