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>
2026-06-28 15:04:55 +08:00
parent e5aeae9c33
commit 235c6c70ac
40 changed files with 2750 additions and 99 deletions
@@ -0,0 +1,18 @@
+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.");
+    }
+}
@@ -0,0 +1,40 @@
+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,
+        };
+    }
+}
@@ -0,0 +1,45 @@
+<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>
@@ -0,0 +1,76 @@
+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();
+}
@@ -0,0 +1,10 @@
+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";
+}
@@ -0,0 +1,7 @@
+using MDCSToolBox.Clumsy.Pilot.DiffWheel;
+
+namespace DiffWheelC;
+
+public class PilotDefinition : DiffWheelPilotDefinition<PilotConfig, PilotDefinition>
+{
+}