update AGV.cs 直线行驶

2026-07-02 14:36:01 +08:00
parent ca723fbdeb
commit 79d023382a
1 changed files with 2 additions and 2 deletions
@@ -226,7 +226,7 @@ namespace MultiWheelC
                RightClampTarget = close ? PilotDefinition.Self.RightArmUpperPos : PilotDefinition.Self.RightArmLowerPos
            }.Get()).Wait();
        }
-        public void LineTracking(int srcId, int dstId, float LineDistance)
+        public void LineTracking(int srcId, int dstId)
        {
            while (!TryLock(dstId))
            {
@@ -235,7 +235,7 @@ namespace MultiWheelC
            DLog.Log($"锁点{dstId}完成", "TireFollowing");
            new DriveTask(new LineTracking()
            {
-                Target = LineDistance + (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
+                Target = PilotDefinition.Conf.LineTrackDistance + (PilotDefinition.Self.LFLActualPos + PilotDefinition.Self.LFRActualPos) / 2,
                LeaveSrcFunction = Leave,
                SrcId = srcId,
            }.Get()).Wait();