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H_SafeExperienceDrivingSystem
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tijiao

This commit is contained in:
yzx 2023-12-25 08:55:44 +08:00
parent 59e2373ce7
commit 9865bce7c7
5 changed files with 30 additions and 23 deletions
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5
U3D_DrivingSystem/Assets/EVP5/Scripts/VehicleController.cs
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@ -627,7 +627,10 @@ public class VehicleController : MonoBehaviour
float forwardSpeed = m_speed * steeringLimitRatio * speedFactor;
float maxEspAngle = Mathf.Asin(Mathf.Clamp01(3.0f / forwardSpeed)) * Mathf.Rad2Deg;
float steerAngleLimit = Mathf.Min(maxSteerAngle, Mathf.Max(maxEspAngle, Mathf.Abs(m_speedAngle)));
inputSteerAngle = Mathf.Clamp(inputSteerAngle, -steerAngleLimit, +steerAngleLimit);
//Debug.Log(inputSteerAngle);
}
float assistedSteerAngle = 0.0f;
@ -638,7 +641,7 @@ public class VehicleController : MonoBehaviour
// Debug.Log(m_steerAngle);
// Debug.Log(m_steerAngle);
}

8
U3D_DrivingSystem/Assets/Scenes/main_.unity
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12
U3D_DrivingSystem/Assets/Scenes/menu.unity
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24
U3D_DrivingSystem/Assets/Script/CarGearControl.cs
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@ -24,8 +24,8 @@ namespace Script
private CarStatusData carData;
float minValue = -900f; // 范围的最小值
float maxValue = 900; // 范围的最大值
float minValue = -1500f; // 范围的最小值
float maxValue = 1500; // 范围的最大值
public CarInfoManager carInfoManager;
private ModbusTcpClient client;
@ -66,14 +66,14 @@ namespace Script
}
// public void HHHHHH()
// {
// client.SendModbusRequest12();
// }
// void OnDestroy()
// {
// client.CloseConnection();
// }
public void HHHHHH()
{
client.SendModbusRequest12();
}
void OnDestroy()
{
client.CloseConnection();
}
async Task ModBusQueue()
{
@ -82,14 +82,14 @@ namespace Script
// Debug.Log(client.modbusQueue.Count);
// if (client.modbusQueue.Count > 0)
// {
// Debug.Log(client.modbusQueue.Count);
// // Debug.Log(client.modbusQueue.Count);
//
// carData = client.modbusQueue.Dequeue();
if (ModbusTcpClient.modbusTcpClient.modbusQueue.Count > 0)
{
// Debug.Log(ModbusTcpClient.modbusTcpClient.modbusQueue.Count);
carData = ModbusTcpClient.modbusTcpClient.modbusQueue.Dequeue();

4
U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs
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@ -168,7 +168,7 @@ 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
@ -200,7 +200,7 @@ namespace ModbusManager
carStatusData.WiperStatus = dataValue;
break;
case 9://00是未开灯，1是示廓灯，2是近光远光。。没有找到远光信号。
Debug.Log($"灯光状态: {dataValue}");
// Debug.Log($"灯光状态: {dataValue}");
carStatusData.LightStatus = dataValue;
break;
case 10://00是未开转向灯，1是左转向灯，2是右转向灯