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H_SafeExperienceDrivingSystem
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Merge branch 'master' of http://172.16.1.12/huangjiayu/H_SafeExperienceDrivingSystem 

# Conflicts:
#	U3D_DrivingSystem/Assets/Scenes/main_.unity
This commit is contained in:
shengtao 2023-12-24 14:35:07 +08:00
parent d4a042c406 7091841463
commit 758e298b58
4 changed files with 51182 additions and 1001 deletions
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156
U3D_DrivingSystem/Assets/EVP5/Prefabs/Sport Coupe Drift.prefab
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maxSpeedForward: 60
maxSpeedForward: 20
maxSpeedReverse: 16
tireFriction: 1
rollingResistance: 0.05
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51973
U3D_DrivingSystem/Assets/Scenes/main_.unity
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File diff suppressed because it is too large Load Diff

48
U3D_DrivingSystem/Assets/Script/CarGearControl.cs
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@ -32,14 +32,18 @@ namespace Script
private int NewValue = -1;
public GameObject thirdPerson;//第三人称
public GameObject firstPerson;//第一人称
public GameObject thirdPerson; //第三人称
public GameObject firstPerson; //第一人称
public GameObject[] shache;
void Start()
{
vehicleController = GetComponent<VehicleController>();
vehicleStandardInput = GetComponent<VehicleStandardInput>();
StartModbus();
StartModbus();
ModBusQueue();
}
@ -50,7 +54,7 @@ namespace Script
while (true)
{
await client.SendModbusRequest();
await Task.Delay(TimeSpan.FromSeconds(.1));
}
}
@ -70,9 +74,6 @@ namespace Script
carData = client.modbusQueue.Dequeue();
Debug.Log(vehicleController.steerInput);
//方向盘
@ -128,7 +129,7 @@ namespace Script
}
}
//转向灯 00是未开转向灯，1是左转向灯，2是右转向灯
//转向灯 00是未开转向灯，1是左转向灯，2是右转向灯
//当钥匙转为通电才能启动转向灯 0熄火，1通电，2启动
if (carData.IgnitionSwitch == 1)
{
@ -145,21 +146,38 @@ namespace Script
break;
}
}
//上1,右2,下3，左4
if (NewValue != carData.ButtonData)
{
NewValue = carData.ButtonData;
CarMenuButton(NewValue);
}
// else
// {
// continue;
// }
if (carData.BrakePedalPosition > 40)
{
if (shache[0].activeInHierarchy)
continue;
for (int i = 0; i < shache.Length; i++)
{
shache[i].SetActive(true);
}
}
else
{
continue;
if (!shache[0].activeInHierarchy)
continue;
for (int i = 0; i < shache.Length; i++)
{
shache[i].SetActive(false);
}
}
}
await Task.Delay(TimeSpan.FromSeconds(.1));
@ -181,8 +199,6 @@ namespace Script
thirdPerson.SetActive(true);
firstPerson.SetActive(false);
}
}
}

6
U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs
View File

@ -157,15 +157,15 @@ namespace ModbusManager
carStatusData.IgnitionSwitch = dataValue;
break;
case 1://左打方向盘为负数，右打方向盘为正数，打方向盘打死一圈半，数值1500。
Debug.Log($"方向盘数据: {(short)dataValue}");
// Debug.Log($"方向盘数据: {(short)dataValue}");
carStatusData.SteeringWheelAngle = (short)dataValue;
break;
case 2://01为喇叭按下
//Debug.Log($"方向盘上喇叭状态: {dataValue}");
// Debug.Log($"方向盘上喇叭状态: {dataValue}");
carStatusData.HornStatus = dataValue;
break;
case 3://0-100,踩到底为100
//Debug.Log($"刹车踏板数据: {dataValue}");
Debug.Log($"刹车踏板数据: {dataValue}");
carStatusData.BrakePedalPosition = dataValue;
break;
case 4://0-100,踩到底为100