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 +1,15 @@
+{
+  "WheelConfig": {
+    "LeftFront": { "Position": { "X": 525.0, "Y": 200.0 } },
+    "LeftRear": { "Position": { "X": -525.0, "Y": 200.0 } },
+    "RightFront": { "Position": { "X": 525.0, "Y": -200.0 } },
+    "RightRear": { "Position": { "X": -525.0, "Y": -200.0 } }
+  },
+  "MaxSpeed": 0.3,
+  "AccPerSecond": 0.3,
+  "DeAccPerSecond": 0.5,
+  "MinTurnSpeedFac": 0.25,
+  "ControlPointRadius": 500.0,
+  "GcpThetaPerSecond": 10.0,
+  "MinimumTurningAngleForAckermann": 60.0
+}
@@ -0,0 +1,60 @@
+{
+  "basicSpeed": 0.2,
+  "DriveTaskInterval": 50,
+  "script": "MultiWheelC.dll",
+  "detourHost": "127.0.0.1",
+  "detourPort": 4321,
+  "msConf": {
+    "MultiVehicleMasterEndpoint": "/",
+    "MultiVehicleFleetNum": 2,
+    "MultiVehicleSyncInterval": 50,
+    "TestCarSyncDistance": 2400,
+    "TestCarSyncTh": 0,
+    "ManualCarSyncVxFac": 1.0,
+    "ManualCarSyncVthFac": 1.0,
+    "SyncThAccPerSec": 30,
+    "PosAvailable": true,
+    "SimpleIp": "127.0.0.1",
+    "CarNum": 1
+  },
+  "layout": {
+    "chassis": {
+      "width": 1000,
+      "length": 1550,
+      "contour": [
+        750, -500, -750, -500, -750, -300, -800, -280, -800, -220,
+        -750, -200, -750, 200, -800, 220, -800, 280, -750, 300,
+        -750, 500, 750, 500
+      ]
+    },
+    "components": [
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "front_lidar_1",
+          "x": 700, "y": 0, "yaw": 0, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      },
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "rear_left_lidar_1",
+          "x": -700, "y": 450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      },
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "rear_right_lidar_1",
+          "x": -700, "y": -450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      }
+    ]
+  }
+}
@@ -0,0 +1,11 @@
+{
+  "port": 8008,
+  "allowMultiple": true,
+  "soTag": "Multi1",
+  "detourHost": "127.0.0.1",
+  "detourPort": 4321,
+  "HideConsoleOnStart": false,
+  "FollowCarOnStart": true,
+  "ShowRobot3dModel": true,
+  "ShowRobotArrow": true
+}
@@ -0,0 +1,60 @@
+{
+  "basicSpeed": 0.2,
+  "DriveTaskInterval": 50,
+  "script": "MultiWheelC.dll",
+  "detourHost": "127.0.0.1",
+  "detourPort": 4421,
+  "msConf": {
+    "MultiVehicleMasterEndpoint": "127.0.0.1:8008",
+    "MultiVehicleFleetNum": 2,
+    "MultiVehicleSyncInterval": 50,
+    "TestCarSyncDistance": 2400,
+    "TestCarSyncTh": 0,
+    "ManualCarSyncVxFac": 1.0,
+    "ManualCarSyncVthFac": 1.0,
+    "SyncThAccPerSec": 30,
+    "PosAvailable": true,
+    "SimpleIp": "127.0.0.1",
+    "CarNum": 2
+  },
+  "layout": {
+    "chassis": {
+      "width": 1000,
+      "length": 1550,
+      "contour": [
+        750, -500, -750, -500, -750, -300, -800, -280, -800, -220,
+        -750, -200, -750, 200, -800, 220, -800, 280, -750, 300,
+        -750, 500, 750, 500
+      ]
+    },
+    "components": [
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "front_lidar_2",
+          "x": 700, "y": 0, "yaw": 0, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      },
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "rear_left_lidar_2",
+          "x": -700, "y": 450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      },
+      {
+        "type": "lidar2d",
+        "options": {
+          "name": "rear_right_lidar_2",
+          "x": -700, "y": -450, "yaw": 180, "z": 0, "pitch": 0, "roll": 0,
+          "isCircle": false, "ignoreDist": 100, "maxDist": 200000,
+          "filterChassis": true
+        }
+      }
+    ]
+  }
+}
@@ -0,0 +1,11 @@
+{
+  "port": 8009,
+  "allowMultiple": true,
+  "soTag": "Multi2",
+  "detourHost": "127.0.0.1",
+  "detourPort": 4421,
+  "HideConsoleOnStart": false,
+  "FollowCarOnStart": true,
+  "ShowRobot3dModel": true,
+  "ShowRobotArrow": true
+}
@@ -0,0 +1,17 @@
+{
+  "basicSpeed": 0.2,
+  "DriveTaskInterval": 50,
+  "script": "DiffWheelC.dll",
+  "msConf": {
+    "ChassisWidth": 600,
+    "SimpleIp": "127.0.0.1"
+  },
+  "layout": {
+    "chassis": {
+      "width": 600,
+      "length": 900,
+      "contour": [-450, 300, 450, 300, 450, -300, -450, -300]
+    },
+    "components": []
+  }
+}
@@ -0,0 +1,9 @@
+@echo off
+setlocal
+cd /d "%~dp0"
+if not exist chassis.json copy /Y ..\..\deploy\chassis.json chassis.json >nul
+if not exist clumsy.json copy /Y ..\..\deploy\clumsy_agv1\clumsy.json clumsy.json >nul
+if not exist clumsyconsole.json copy /Y ..\..\deploy\clumsy_agv1\clumsyconsole.json clumsyconsole.json >nul
+echo [Clumsy AGV1] Master, tag Multi1. Start Medulla build\Medulla first.
+ClumsyLite.exe
+pause
@@ -0,0 +1,9 @@
+@echo off
+setlocal
+cd /d "%~dp0"
+if not exist chassis.json copy /Y ..\..\deploy\chassis.json chassis.json >nul
+if not exist clumsy.json copy /Y ..\..\deploy\clumsy_agv2\clumsy.json clumsy.json >nul
+if not exist clumsyconsole.json copy /Y ..\..\deploy\clumsy_agv2\clumsyconsole.json clumsyconsole.json >nul
+echo [Clumsy AGV2] Slave, tag Multi2. Start Medulla build\Medulla_AGV2 first.
+ClumsyLite.exe
+pause