flutterApp/lib/features/remote_control/domain/usecase/diff_steer_usecase.dart

class DiffSteerUseCase {
  static const int polarityHigh = 0;
  static const int polarityLow = 1;

  double _turnSpeedScale = 1500 / 100;
  double _forwardSpeedScale = 3000 / 100;
  int _speedAmplLimit = 3000;

  int _leftWheelDir = polarityHigh;
  int _rightWheelDir = polarityHigh;
  int _xDir = polarityHigh;
  int _yDir = polarityHigh;

  Map<String, int> calculate(int x, int y) {
    int turnSpeed = _signOperator((x * _turnSpeedScale).toInt(), _xDir);
    int forwardSpeed = _signOperator((y * _forwardSpeedScale).toInt(), _yDir);

    // 倒车补偿
    int adjustedTurn = (forwardSpeed >= 0 ? turnSpeed : -turnSpeed);

    int left = _signOperator(forwardSpeed + adjustedTurn, _leftWheelDir);
    int right = _signOperator(forwardSpeed - adjustedTurn, _rightWheelDir);

    return {
      'left': left.clamp(-_speedAmplLimit, _speedAmplLimit),
      'right': right.clamp(-_speedAmplLimit, _speedAmplLimit),
    };
  }

  int _signOperator(int num, int polarity) =>
      polarity != polarityHigh ? -num : num;




}