update

software/android/.idea/misc.xml

@@ -4,6 +4,15 @@
     <option name="filePathToZoomLevelMap">
       <map>
         <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_baseline_menu_24.xml" value="0.189" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_standby.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml" value="0.2795" />
+        <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml" value="0.2795" />
         <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/layout/activity_control.xml" value="0.32472826086956524" />
         <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/layout/activity_device_list.xml" value="0.2826086956521739" />
         <entry key="..\:/Users/rooki/Documents/GitHub/hexapod/software/android/app/src/main/res/layout/activity_main.xml" value="0.2717391304347826" />

software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt

@@ -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_WALK_0 = "walk0:"
-        private const val CMD_BACKWARD = "backward:"
+        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 (angle > -7 * PI / 8 && angle < -5 * PI / 8) {
-                            if (currentState != CMD_SHIFTRIGHT) {
+                            if (currentState != CMD_WALK_L45) {
-                                sendMessageAsync(CMD_SHIFTRIGHT)
+                                sendMessageAsync(CMD_WALK_L45)
-                                currentState = CMD_SHIFTRIGHT
+                                currentState = CMD_WALK_L45
-                                controlImage!!.setImageResource(R.drawable.ic_control_circle_right)
+                                controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l45)
-                            }
+                            }
-                        } else if (angle > PI / 4 && angle <= 3 * PI / 4) {
+                        }else if (angle > -5 * PI / 8 && angle < -3 * PI / 8) {
-                            if (currentState != CMD_BACKWARD) {
+                            if (currentState != CMD_WALK_0) {
-                                sendMessageAsync(CMD_BACKWARD)
+                                sendMessageAsync(CMD_WALK_0)
-                                currentState = CMD_BACKWARD
+                                currentState = CMD_WALK_0
-                                controlImage!!.setImageResource(R.drawable.ic_control_circle_backward)
+                                controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_0)
-                            }
+                            }
-                        } else if (angle > -3 * PI / 4 && angle < -PI / 4) {
+                        } else if (angle > -3 * PI / 8 && angle <= -PI / 8) {
-                            if (currentState != CMD_FORWARD) {
+                            if (currentState != CMD_WALK_R45) {
-                                sendMessageAsync(CMD_FORWARD)
+                                sendMessageAsync(CMD_WALK_R45)
-                                currentState = CMD_FORWARD
+                                currentState = CMD_WALK_R45
-                                controlImage!!.setImageResource(R.drawable.ic_control_circle_forward)
+                                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) {
+                            if (currentState != CMD_WALK_L90) {
-                                sendMessageAsync(CMD_SHIFTLEFT)
+                                sendMessageAsync(CMD_WALK_L90)
-                                currentState = CMD_SHIFTLEFT
+                                currentState = CMD_WALK_L90
-                                controlImage!!.setImageResource(R.drawable.ic_control_circle_left)
+                                controlImage!!.setImageResource(R.drawable.ic_control_circle_walk_l90)
                             }
                         }
                         buttonRotateX!!.backgroundTintList =

software/android/app/src/main/res/drawable/ic_control_circle.xml

@@ -4,18 +4,10 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 103.62,1 1,212.132 212.132a150,150 103.62,1 1,-212.132 -212.132"
+      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <path
-      android:pathData="M79.231,79.431a100,100 120.376,1 0,141.421 141.421a100,100 120.376,1 0,-141.421 -141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
@@ -25,12 +17,18 @@
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
   <path
-      android:pathData="m43.593,43.793l212.132,212.132"
+      android:pathData="M43.593,43.793 L255.725,255.925"
       android:strokeLineJoin="miter"
       android:strokeWidth="1"
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M79.231,79.431a100,100 120.376,1 0,141.421 141.421a100,100 120.376,1 0,-141.421 -141.421z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -97,6 +95,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml

@@ -4,29 +4,17 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M150.012,150.071m-106.066,106.066a150,150 0,1 1,212.132 -212.132a150,150 0,1 1,-212.132 212.132"
+      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="m301.774,302.015 l-151.903,-151.903 -151.903,151.903z"/>
   <path
-        android:pathData="M149.871,150.012m-106.066,106.066a150,150 0,1 1,212.132 -212.132a150,150 0,1 1,-212.132 212.132"
+      android:pathData="M256.066,256.066A150,150 114.598,0 1,43.934 256.066L150,150Z"
       android:strokeWidth="0.999999"
       android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
-  <path
-      android:pathData="M79.331,220.811a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +29,12 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml

@@ -4,29 +4,17 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M149.871,150.071m106.066,-106.066a150,150 0,1 1,-212.132 212.132a150,150 0,1 1,212.132 -212.132"
+      android:pathData="M149.941,150.141m106.066,106.066a150,150 0,1 1,-212.132 -212.132a150,150 0,1 1,212.132 212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="m-1.891,-1.874 l151.903,151.903 151.903,-151.903z"/>
   <path
-        android:pathData="M150.012,150.129m106.066,-106.066a150,150 86.333,1 1,-212.132 212.132a150,150 86.333,1 1,212.132 -212.132"
+      android:pathData="M43.817,44.217A150,150 112.918,0 1,255.949 44.217L149.883,150.283Z"
       android:strokeWidth="0.999999"
       android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
-  <path
-      android:pathData="M79.331,220.811a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +29,12 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_standby.xml

@@ -4,18 +4,10 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
+      android:pathData="M149.941,150.141m-106.066,106.066a150,150 0,1 1,212.132 -212.132a150,150 0,1 1,-212.132 212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <path
-      android:pathData="M79.231,79.431a100,100 120.376,1 0,141.421 141.421a100,100 120.376,1 0,-141.421 -141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
@@ -31,6 +23,12 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -97,6 +95,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml

@@ -4,29 +4,17 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
+      android:pathData="M149.941,150.141m106.066,-106.066a150,150 0,1 1,-212.132 212.132a150,150 0,1 1,212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="m-2.003,301.903 l151.903,-151.903 -151.903,-151.903z"/>
   <path
-        android:pathData="M150,150m-106.066,-106.066a150,150 85.302,1 1,212.132 212.132a150,150 85.302,1 1,-212.132 -212.132"
+      android:pathData="M44.017,256.266A150,150 120.039,0 1,44.017 44.134L150.083,150.2Z"
       android:strokeWidth="0.999999"
       android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
-  <path
-      android:pathData="M79.331,220.811a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +29,12 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_turnright.xml

@@ -4,29 +4,17 @@
     android:viewportWidth="300"
     android:viewportHeight="300">
   <path
-      android:pathData="M149.941,150m106.066,106.066a150,150 0,1 1,-212.132 -212.132a150,150 0,1 1,212.132 212.132"
+      android:pathData="M149.941,150.141m-106.066,106.066a150,150 0,1 1,212.132 -212.132a150,150 0,1 1,-212.132 212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
       android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
       android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="m301.886,-1.762 l-151.903,151.903 151.903,151.903z"/>
   <path
-        android:pathData="M149.883,150.141m106.066,106.066a150,150 0,1 1,-212.132 -212.132a150,150 0,1 1,212.132 212.132"
+      android:pathData="M255.866,44.017A150,150 112.918,0 1,255.866 256.149L149.8,150.083Z"
       android:strokeWidth="0.999999"
       android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
-  <path
-      android:pathData="M79.331,220.811a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
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-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +29,12 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml

@@ -6,27 +6,9 @@
   <path
       android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <path
-      android:pathData="M79.331,220.811a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="M41.389,258.553 L149.9,150.041l-108.511,-108.511z"/>
-    <path
-        android:pathData="M79.189,220.752a100,100 120.376,1 0,141.421 -141.421a100,100 120.376,1 0,-141.421 141.421z"
-        android:strokeWidth="1"
-        android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +23,18 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,242.388a100,100 52.876,1 0,-76.537 -184.776a100,100 52.876,1 0,76.537 184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M111.623,57.72A100,100 52.876,0 1,188.16 57.72L149.892,150.108Z"
+      android:strokeWidth="1"
+      android:fillColor="#6200ee"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_walk_180.xml

@@ -0,0 +1,156 @@
+<vector xmlns:android="http://schemas.android.com/apk/res/android"
+    android:width="300dp"
+    android:height="300dp"
+    android:viewportWidth="300"
+    android:viewportHeight="300">
+  <path
+      android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
+      android:strokeWidth="0.999999"
+      android:fillColor="#646464"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M256.007,44.075 L43.875,256.207"
+      android:strokeLineJoin="miter"
+      android:strokeWidth="1"
+      android:fillColor="#00000000"
+      android:strokeColor="#ffffff"
+      android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M43.593,43.793 L255.725,255.925"
+      android:strokeLineJoin="miter"
+      android:strokeWidth="1"
+      android:fillColor="#00000000"
+      android:strokeColor="#ffffff"
+      android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M111.732,57.612a100,100 52.876,1 0,76.537 184.776a100,100 52.876,1 0,-76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M188.377,242.28A100,100 52.876,0 1,111.84 242.28L150.108,149.892Z"
+      android:strokeWidth="1"
+      android:fillColor="#6200ee"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
+      android:strokeWidth="0.999998"
+      android:fillColor="#000000"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M142.063,142.063h5.292v15.875h-5.292z"
+      android:strokeWidth="1"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M152.646,142.063h5.292v15.875h-5.292z"
+      android:strokeWidth="1"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m157.589,83.54 l-15.178,0 7.589,-13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m142.411,216.46 l15.178,-0 -7.589,13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m157.589,27.732 l-15.178,0 7.589,-13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m157.589,34.942 l-15.178,0 7.589,-13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m142.411,272.268 l15.178,-0 -7.589,13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m142.411,265.058 l15.178,-0 -7.589,13.145z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m83.54,142.411 l0,15.178 -13.145,-7.589z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m216.46,157.589 l-0,-15.178 13.145,7.589z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m262.99,191.219 l-0,-15.178 13.145,7.589z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m29.259,182.352a125,125 0,0 1,-0 -64.705"
+      android:strokeLineJoin="round"
+      android:strokeWidth="5"
+      android:fillColor="#00000000"
+      android:strokeColor="#ffffff"
+      android:fillAlpha="0.539162"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m268.491,182.352a125,125 0,0 0,-0 -64.705"
+      android:strokeLineJoin="round"
+      android:strokeWidth="5"
+      android:fillColor="#00000000"
+      android:strokeColor="#ffffff"
+      android:fillAlpha="0.539162"
+      android:strokeLineCap="round"/>
+</vector>

software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml

@@ -6,27 +6,9 @@
   <path
       android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <path
-      android:pathData="M220.711,220.711a100,100 120.376,1 0,-141.421 -141.421a100,100 120.376,1 0,141.421 141.421z"
-      android:strokeWidth="1"
-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="M258.453,258.653 L149.941,150.141l-108.511,108.511z"/>
-    <path
-        android:pathData="M220.652,220.852a100,100 120.376,1 0,-141.421 -141.421a100,100 120.376,1 0,141.421 141.421z"
-        android:strokeWidth="1"
-        android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +23,18 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M188.268,57.612a100,100 97.876,1 0,-76.537 184.776a100,100 97.876,1 0,76.537 -184.776z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M111.885,242.388A100,100 97.876,0 1,57.765 188.268L150.153,150Z"
+      android:strokeWidth="1"
+      android:fillColor="#6200ee"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml

@@ -6,27 +6,9 @@
   <path
       android:pathData="M149.941,150.141m-106.066,-106.066a150,150 0,1 1,212.132 212.132a150,150 0,1 1,-212.132 -212.132"
       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <path
-      android:pathData="M79.231,79.431a100,100 120.376,1 0,141.421 141.421a100,100 120.376,1 0,-141.421 -141.421z"
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-      android:fillColor="#000000"
-      android:strokeColor="#00000000"
-      android:fillAlpha="0.49692"
-      android:strokeLineCap="round"/>
-  <group>
-    <clip-path
-        android:pathData="M41.489,41.489 L150,150l108.511,-108.511z"/>
-    <path
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-        android:strokeWidth="1"
-        android:fillColor="#6200ee"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
-  </group>
   <path
       android:pathData="M256.007,44.075 L43.875,256.207"
       android:strokeLineJoin="miter"
@@ -41,6 +23,18 @@
       android:fillColor="#00000000"
       android:strokeColor="#ffffff"
       android:strokeLineCap="butt"/>
+  <path
+      android:pathData="M242.388,188.268a100,100 97.876,1 0,-184.776 -76.537a100,100 97.876,1 0,184.776 76.537z"
+      android:strokeWidth="1"
+      android:fillColor="#323232"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="M57.612,111.885A100,100 97.876,0 1,111.732 57.765L150,150.153Z"
+      android:strokeWidth="1"
+      android:fillColor="#6200ee"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="M114.586,114.786a50,50 59.624,1 0,70.711 70.711a50,50 59.624,1 0,-70.711 -70.711z"
       android:strokeWidth="0.999998"
@@ -107,6 +101,30 @@
       android:fillColor="#ffffff"
       android:strokeColor="#00000000"
       android:strokeLineCap="round"/>
+  <path
+      android:pathData="m108.372,97.64 l-10.733,10.733 -3.928,-14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m191.628,202.361 l10.733,-10.733 3.928,14.661z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m97.64,191.628 l10.733,10.733 -14.661,3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
+  <path
+      android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
+      android:strokeWidth="1.0000011"
+      android:fillColor="#ffffff"
+      android:strokeColor="#00000000"
+      android:strokeLineCap="round"/>
   <path
       android:pathData="m34.893,176.041 l0,15.178 -13.145,-7.589z"
       android:strokeWidth="1.0000011"

software/android/app/src/main/res/drawable/ic_control_circle_walk_l90.xml

@@ -6,27 +6,9 @@
   <path
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       android:strokeWidth="0.999999"
-      android:fillColor="#000000"
+      android:fillColor="#646464"
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       android:strokeColor="#ffffff"
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software/android/app/src/main/res/drawable/ic_control_circle_walk_r135.xml

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+<vector xmlns:android="http://schemas.android.com/apk/res/android"
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software/android/app/src/main/res/drawable/ic_control_circle_walk_r45.xml

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+<vector xmlns:android="http://schemas.android.com/apk/res/android"
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software/android/app/src/main/res/drawable/ic_control_circle_walk_r90.xml

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+      android:fillAlpha="0.539162"
+      android:strokeLineCap="round"/>
+</vector>