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 +1,70 @@
+using System;
+using System.Numerics;
+using ClumsyCore;
+using ClumsyCore.Interfaces;
+using ClumsyCore.Pilot;
+using MDCSToolBox.Clumsy.MotionControllers;
+using MDCSToolBox.Clumsy.Movements;
+using MDCSToolBox.Clumsy.Pilot;
+
+namespace MultiWheelC;
+
+public class ChassisController : MovementDefinition<MultiWheelGeometricController>
+{
+    public float BaseSpeed = Configuration.conf.basicSpeed;
+
+    public override MultiWheelGeometricController Get()
+    {
+        return new MultiWheelGeometricController
+        {
+            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,
+            FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
+            FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
+            NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
+            DebugMode = PilotDefinition.Conf.MotionDebugPrint,
+            DebugCurvature = PilotDefinition.Conf.DebugCurvature,
+            PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
+            SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
+            SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
+            SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
+            SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
+            SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
+            MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
+            MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
+            GcpThetaThreshold = PilotDefinition.Conf.GcpThetaThreshold,
+            DthLinearFac = PilotDefinition.Conf.DthLinearFac,
+            DthLinearThreshold = PilotDefinition.Conf.DthLinearThreshold,
+            BiasFac = PilotDefinition.Conf.BiasFac,
+            BiasThreshold = PilotDefinition.Conf.BiasThreshold,
+
+            MultiVehicleSendMotion = (speed, frontTh, rearTh, idealPos, idealAngle) =>
+            {
+                PilotDefinition.Self.MultiVehicleAutoEnabled = true;
+                lock (PilotDefinition.Self.MultiVehicleFleet)
+                {
+                    if (PilotDefinition.Self.MultiVehicleFleet.Count != PilotDefinition.Conf.MultiVehicleFleetNum)
+                        return;
+                }
+
+                PilotDefinition.Self.MultiVehicleAutoVx = speed;
+                PilotDefinition.Self.MultiVehicleAutoFrontTh = frontTh;
+                PilotDefinition.Self.MultiVehicleAutoRearTh = rearTh;
+            },
+
+            MultiVehicleGetFleetPos = () => new Location
+            {
+                x = PilotDefinition.Self.CenterX,
+                y = PilotDefinition.Self.CenterY,
+                th = PilotDefinition.Self.CenterTh,
+                l_step = 1,
+                tick = DateTime.Now.Ticks
+            }
+        };
+    }
+}