tijiao

U3D_DrivingSystem/Assets/EVP5/Scripts/VehicleController.cs

@@ -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;

U3D_DrivingSystem/Assets/Scenes/main_.unity

@@ -46746,7 +46746,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!4 &463649141
 Transform:
   m_ObjectHideFlags: 0
@@ -161849,7 +161849,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 0
+  m_IsActive: 1
 --- !u!4 &1482950187
 Transform:
   m_ObjectHideFlags: 0
@@ -222314,6 +222314,10 @@ PrefabInstance:
       propertyPath: m_LocalEulerAnglesHint.z
       value: 0
       objectReference: {fileID: 0}
+    - target: {fileID: 11410574, guid: 4292160a5e1fde347934ac660b2c5d30, type: 3}
+      propertyPath: degreesOfRotation
+      value: 1100
+      objectReference: {fileID: 0}
     - target: {fileID: 15384928, guid: 4292160a5e1fde347934ac660b2c5d30, type: 3}
       propertyPath: m_ConnectedAnchor.x
       value: -0.394989

U3D_DrivingSystem/Assets/Scenes/menu.unity

@@ -358,7 +358,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &76095179
 RectTransform:
   m_ObjectHideFlags: 0
@@ -973,7 +973,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &570311457
 RectTransform:
   m_ObjectHideFlags: 0
@@ -1106,7 +1106,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &574599288
 RectTransform:
   m_ObjectHideFlags: 0
@@ -1509,7 +1509,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &748011624
 RectTransform:
   m_ObjectHideFlags: 0
@@ -1642,7 +1642,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &867050206
 RectTransform:
   m_ObjectHideFlags: 0
@@ -4057,7 +4057,7 @@ GameObject:
   m_Icon: {fileID: 0}
   m_NavMeshLayer: 0
   m_StaticEditorFlags: 0
-  m_IsActive: 1
+  m_IsActive: 0
 --- !u!224 &1952163225
 RectTransform:
   m_ObjectHideFlags: 0

U3D_DrivingSystem/Assets/Script/CarGearControl.cs

@@ -24,8 +24,8 @@ namespace Script
 
         private CarStatusData carData;
 
-        float minValue = -900f; // 范围的最小值
+        float minValue = -1500f; // 范围的最小值
-        float maxValue = 900; // 范围的最大值
+        float maxValue = 1500; // 范围的最大值
 
         public CarInfoManager carInfoManager;
         private ModbusTcpClient client;
@@ -66,14 +66,14 @@ namespace Script
         }
 
 
-        // public void HHHHHH()
+        public void HHHHHH()
-        // {
+        {
-        //      client.SendModbusRequest12();
+             client.SendModbusRequest12();
-        // }
+        }
-        // void OnDestroy()
+        void OnDestroy()
-        // {
+        {
-        //     client.CloseConnection();
+            client.CloseConnection();
-        // }
+        }
 
         async Task ModBusQueue()
         {
@@ -82,7 +82,7 @@ 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();
 

U3D_DrivingSystem/Assets/Script/ModbusTcpClient.cs

@@ -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