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>
This commit is contained in:
2026-06-28 15:04:55 +08:00
co-authored by Cursor
parent e5aeae9c33
commit 235c6c70ac
40 changed files with 2750 additions and 99 deletions
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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";
}
}