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update

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master
Zhengyu Peng 3 years ago
parent 49a53e13e6
commit c3192d33a1
16 changed files with 1040 additions and 190 deletions
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9
software/android/.idea/misc.xml
Unescape Escape View File

@ -4,6 +4,15 @@
<option name="filePathToZoomLevelMap">
<map>
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77
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
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@ -73,15 +73,20 @@ class ControlActivity : AppCompatActivity() {
private const val CMD_STANDBY = "standby:"
private const val CMD_LAYDOWN = "laydown:"
private const val CMD_FORWARD = "forward:"
private const val CMD_BACKWARD = "backward:"
private const val CMD_WALK_0 = "walk0:"
private const val CMD_WALK_180 = "walk180:"
private const val CMD_WALK_R45 = "walkr45:"
private const val CMD_WALK_R90 = "walkr90:"
private const val CMD_WALK_R135 = "walkr135:"
private const val CMD_WALK_L45 = "walkl45:"
private const val CMD_WALK_L90 = "walkl90:"
private const val CMD_WALK_L135 = "walkl135:"
private const val CMD_FASTFORWARD = "fastforward:"
private const val CMD_FASTBACKWARD = "fastbackward:"
private const val CMD_SHIFTLEFT = "shiftleft:"
private const val CMD_SHIFTRIGHT = "shiftright:"
private const val CMD_TURNLEFT = "turnleft:"
private const val CMD_TURNRIGHT = "turnright:"
@ -197,29 +202,53 @@ class ControlActivity : AppCompatActivity() {
}
} else if (length >= radius / 3 && length < 2 * radius / 3) {
val angle = atan2(coorY, coorX)
if (angle > -PI / 4 && angle <= PI / 4) {
if (currentState != CMD_SHIFTRIGHT) {
sendMessageAsync(CMD_SHIFTRIGHT)
currentState = CMD_SHIFTRIGHT
controlImage!!.setImageResource(R.drawable.ic_control_circle_right)
if (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
if (currentState != CMD_WALK_L45) {
sendMessageAsync(CMD_WALK_L45)
currentState = CMD_WALK_L45
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
}
} else if (angle > PI / 4 && angle <= 3 * PI / 4) {
if (currentState != CMD_BACKWARD) {
sendMessageAsync(CMD_BACKWARD)
currentState = CMD_BACKWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_backward)
}else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
if (currentState != CMD_WALK_0) {
sendMessageAsync(CMD_WALK_0)
currentState = CMD_WALK_0
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
}
} else if (angle > -3 * PI / 4 && angle < -PI / 4) {
if (currentState != CMD_FORWARD) {
sendMessageAsync(CMD_FORWARD)
currentState = CMD_FORWARD
controlImage!!.setImageResource(R.drawable.ic_control_circle_forward)
} else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
if (currentState != CMD_WALK_R45) {
sendMessageAsync(CMD_WALK_R45)
currentState = CMD_WALK_R45
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r45)
}
} else if (angle > -PI / 8 && angle <= PI / 8) {
if (currentState != CMD_WALK_R90) {
sendMessageAsync(CMD_WALK_R90)
currentState = CMD_WALK_R90
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r90)
}
} else if (angle > PI / 8 && angle <= 3 * PI / 8) {
if (currentState != CMD_WALK_R135) {
sendMessageAsync(CMD_WALK_R135)
currentState = CMD_WALK_R135
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_r135)
}
} else if (angle > 3 *PI / 8 && angle <= 5 * PI / 8) {
if (currentState != CMD_WALK_180) {
sendMessageAsync(CMD_WALK_180)
currentState = CMD_WALK_180
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_180)
}
} else if (angle > 5 *PI / 8 && angle <= 7 * PI / 8) {
if (currentState != CMD_WALK_L135) {
sendMessageAsync(CMD_WALK_L135)
currentState = CMD_WALK_L135
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l135)
}
} else {
if (currentState != CMD_SHIFTLEFT) {
sendMessageAsync(CMD_SHIFTLEFT)
currentState = CMD_SHIFTLEFT
controlImage!!.setImageResource(R.drawable.ic_control_circle_left)
if (currentState != CMD_WALK_L90) {
sendMessageAsync(CMD_WALK_L90)
currentState = CMD_WALK_L90
controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
}
}
buttonRotateX!!.backgroundTintList =

46
software/android/app/src/main/res/drawable/ic_control_circle.xml
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@ -4,33 +4,31 @@
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52
software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml
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52
software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml
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42
software/android/app/src/main/res/drawable/ic_control_circle_standby.xml
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52
software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml
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56
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56
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56
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56
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