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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"> <option name="filePathToZoomLevelMap">
<map> <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_baseline_menu_24.xml" value="0.189" />
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<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" />
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77
software/android/app/src/main/java/com/rookiedev/hexapod/ControlActivity.kt
Unescape Escape View File

@ -73,15 +73,20 @@ class ControlActivity : AppCompatActivity() {
private const val CMD_STANDBY = "standby:" private const val CMD_STANDBY = "standby:"
private const val CMD_LAYDOWN = "laydown:" 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_FASTFORWARD = "fastforward:"
private const val CMD_FASTBACKWARD = "fastbackward:" 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_TURNLEFT = "turnleft:"
private const val CMD_TURNRIGHT = "turnright:" private const val CMD_TURNRIGHT = "turnright:"
@ -197,29 +202,53 @@ class ControlActivity : AppCompatActivity() {
} }
} else if (length >= radius / 3 && length < 2 * radius / 3) { } else if (length >= radius / 3 && length < 2 * radius / 3) {
val angle = atan2(coorY, coorX) 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 { } 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 = 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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@ -97,6 +95,30 @@
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android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
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android:strokeColor="#00000000"
android:strokeLineCap="round"/>
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android:strokeWidth="1.0000011" android:strokeWidth="1.0000011"

52
software/android/app/src/main/res/drawable/ic_control_circle_fastbackward.xml
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@ -4,28 +4,16 @@
android:viewportWidth="300" android:viewportWidth="300"
android:viewportHeight="300"> android:viewportHeight="300">
<path <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:strokeWidth="0.999999"
android:fillColor="#000000" android:fillColor="#646464"
android:strokeColor="#00000000" android:strokeColor="#00000000"
android:fillAlpha="0.49692"
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<group>
<clip-path
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android:strokeWidth="0.999999"
android:fillColor="#6200ee"
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android:strokeLineCap="round"/>
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android:strokeWidth="1" android:strokeWidth="0.999999"
android:fillColor="#000000" android:fillColor="#6200ee"
android:strokeColor="#00000000" android:strokeColor="#00000000"
android:fillAlpha="0.49692"
android:strokeLineCap="round"/> android:strokeLineCap="round"/>
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android:pathData="M256.007,44.075 L43.875,256.207" android:pathData="M256.007,44.075 L43.875,256.207"
@ -41,6 +29,12 @@
android:fillColor="#00000000" android:fillColor="#00000000"
android:strokeColor="#ffffff" android:strokeColor="#ffffff"
android:strokeLineCap="butt"/> 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"
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android:strokeColor="#00000000"
android:strokeLineCap="round"/>
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@ -107,6 +101,30 @@
android:fillColor="#ffffff" android:fillColor="#ffffff"
android:strokeColor="#00000000" android:strokeColor="#00000000"
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<path
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<path
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android:strokeLineCap="round"/>
<path
android:pathData="m202.361,108.372 l-10.733,-10.733 14.661,-3.928z"
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android:strokeLineCap="round"/>
<path <path
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android:strokeWidth="1.0000011" android:strokeWidth="1.0000011"

52
software/android/app/src/main/res/drawable/ic_control_circle_fastforward.xml
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@ -4,28 +4,16 @@
android:viewportWidth="300" android:viewportWidth="300"
android:viewportHeight="300"> android:viewportHeight="300">
<path <path
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@ -41,6 +29,12 @@
android:fillColor="#00000000" android:fillColor="#00000000"
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42
software/android/app/src/main/res/drawable/ic_control_circle_standby.xml
Unescape Escape View File

@ -4,18 +4,10 @@
android:viewportWidth="300" android:viewportWidth="300"
android:viewportHeight="300"> android:viewportHeight="300">
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52
software/android/app/src/main/res/drawable/ic_control_circle_turnleft.xml
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52
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56
software/android/app/src/main/res/drawable/ic_control_circle_left.xml → software/android/app/src/main/res/drawable/ic_control_circle_walk_0.xml
Unescape Escape View File

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156
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56
software/android/app/src/main/res/drawable/ic_control_circle_backward.xml → software/android/app/src/main/res/drawable/ic_control_circle_walk_l135.xml
Unescape Escape View File

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56
software/android/app/src/main/res/drawable/ic_control_circle_forward.xml → software/android/app/src/main/res/drawable/ic_control_circle_walk_l45.xml
Unescape Escape View File

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