Initial tutorial project

2026-06-19 23:12:05 +08:00
commit e5aeae9c33
11 changed files with 553 additions and 0 deletions
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+using CartActivator;
+
+namespace MultiWheelM;
+
+public class Remote : ManualController<CartDefinition>
+{
+    [AsControlItem(name = "速度摇杆", keyboard = "Up,Down,Left,Right", joystick = "Axis0,Axis1")]
+    public Stick SpeedPad;
+
+    [AsControlItem(name = "速度比例", keyboard = "Q,W")]
+    public Throttle SpeedRatio;
+
+    [AsControlItem(name = "旋转模式", keyboard = "R")]
+    public Switch SpinMode;
+
+    [AsControlItem(name = "横移模式", keyboard = "C")]
+    public Switch CrabMode;
+
+    [AsControlItem(name = "斜行模式", keyboard = "S")]
+    public Switch SwayMode;
+
+    [AsControlItem(name = "车头方向", keyboard = "A,D")]
+    public DThrottle FrontDirection;
+
+    public override void Operation()
+    {
+        var speedThreshold = Math.Clamp(SpeedRatio.val, 0, 1) * Math.Max(0, cart.MaxManualSpeed);
+        var speed = Math.Clamp(SpeedPad.y, -1, 1) * speedThreshold;
+        var steerInput = Math.Clamp(SpeedPad.x, -1, 1);
+        var steering = (float)Math.Pow(Math.Abs(steerInput), cart.ManualThetaPow) * Math.Sign(steerInput);
+        var frontTh = -steering * cart.MaxManualTheta;
+        var rearTh = steering * cart.MaxManualTheta;
+        var frontDirection = Math.Clamp(FrontDirection.dval, -1, 1) * 180;
+
+        if (SpinMode.on)
+        {
+            var direction = steerInput == 0 ? Math.Sign(speed) : steerInput;
+            cart.Chassis.SendRotateMotion(direction * cart.MaxManualAngularSpeed * Math.Clamp(SpeedRatio.val, 0, 1));
+            cart.ManualMode = 1;
+            statusText = $"spin, w={direction * cart.MaxManualAngularSpeed:0.0}deg/s";
+            return;
+        }
+
+        if (CrabMode.on)
+        {
+            cart.Chassis.SetOriginBias(0, 0, 90);
+            cart.Chassis.SendMotion(speed, frontTh, rearTh);
+            cart.ManualMode = 2;
+            statusText = $"crab, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
+            return;
+        }
+
+        if (SwayMode.on)
+        {
+            cart.Chassis.SetOriginBias(0, 0, frontDirection);
+            cart.Chassis.SendMotion(speed, frontTh, -rearTh);
+            cart.ManualMode = 3;
+            statusText = $"sway, v={speed:0.000}, front={frontTh:0.0}, rear={-rearTh:0.0}";
+            return;
+        }
+
+        cart.Chassis.SetOriginBias(0, 0, frontDirection);
+        cart.Chassis.SendMotion(speed, frontTh, rearTh);
+        cart.ManualMode = 0;
+        statusText = $"normal, v={speed:0.000}, front={frontTh:0.0}, rear={rearTh:0.0}";
+    }
+}
+
+
+