ruifeng.zhouandCursor
235c6c70ac
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>
41 lines
1.9 KiB
C#
41 lines
1.9 KiB
C#
using ClumsyCore;
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using ClumsyCore.Pilot;
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using MDCSToolBox.Clumsy.MotionControllers;
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using MDCSToolBox.Clumsy.Pilot;
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namespace DiffWheelC;
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public class ChassisController : MovementDefinition<DiffWheelGeometricController>
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{
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public float BaseSpeed = Configuration.conf.basicSpeed;
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public override DiffWheelGeometricController Get()
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{
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return new DiffWheelGeometricController
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{
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Chassis = BasicPilotBase.Chassis,
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BaseSpeed = BaseSpeed,
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SlowDistance = PilotDefinition.Conf.SlowDistance,
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SlowingPow = PilotDefinition.Conf.SlowingPow,
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FinishDistance = PilotDefinition.Conf.FinishDistance,
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FinishSpeed = PilotDefinition.Conf.FinishSpeed,
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FirstThAccuracy = PilotDefinition.Conf.FirstThAccuracy,
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NotContinuousAngle = PilotDefinition.Conf.NotContinuousAngle,
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FirstRotateSpeedFac = PilotDefinition.Conf.FirstRotateSpeedFac,
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FirstRotateMaxSpeed = PilotDefinition.Conf.FirstRotateMaxSpeed,
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DebugMode = PilotDefinition.Conf.MotionDebugPrint,
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DebugCurvature = PilotDefinition.Conf.DebugCurvature,
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MaxRotateAcc = PilotDefinition.Conf.MaxRotateAccCurveLimit,
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MaxRotateSpeed = PilotDefinition.Conf.MaxRotateSpeedCurveLimit,
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SpeedLimitCurveDiffMin = PilotDefinition.Conf.SpeedLimitCurveDiffMin,
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SpeedLimitCurveMin = PilotDefinition.Conf.SpeedLimitCurveMin,
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SpeedAccPerSecond = PilotDefinition.Conf.SpeedAccPerSecond,
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SpeedDeAccPerSecond = PilotDefinition.Conf.SpeedDeAccPerSecond,
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PowerSteeringLookAhead = PilotDefinition.Conf.PowerSteeringLookAhead,
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SpeedLookAhead = PilotDefinition.Conf.SpeedLookAhead,
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SpeedLookAheadCurveDiff = PilotDefinition.Conf.SpeedLookAheadCurveDiff,
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SpeedLookBackCurveDiff = PilotDefinition.Conf.SpeedLookBackCurveDiff,
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};
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}
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}
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