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update AGV.cs 直线行驶

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