#

whycq

2025-01-04 98e96b71e1866cf1f3315d15b5ae7ced6447519e

 app/src/main/res/layout/activity_main.xml

@@ -13,7 +13,11 @@
        android:layout_height="0dp"
        android:layout_weight="4">
    </LinearLayout>

    <!--    ****************  底盘  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_bottom"
        android:visibility="gone"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6">
@@ -23,7 +27,7 @@
            android:layout_height="100sp"
            android:layout_margin="30sp"
            android:text="STOP"
            android:textSize="20sp"
            android:textSize="18sp"
            android:layout_centerInParent="true"
            android:backgroundTint="#F62727" />

@@ -55,29 +59,13 @@
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_up"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="上升"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:layout_alignLeft="@+id/btn_rotatopn_left"
            android:layout_alignBottom="@+id/btn_go_backward"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rotatopn_left"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="左旋转"
            android:layout_marginRight="20sp"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
@@ -89,6 +77,328 @@
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="右旋转"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

    </RelativeLayout>

    <!--    ****************  货叉  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_top"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="visible">

        <Button
            android:id="@+id/btn_stop2"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_extend_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_centerHorizontal="true"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="伸叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_collect_fork"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentBottom="true"
            android:layout_centerHorizontal="true"
            android:layout_marginBottom="10sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="收叉"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_rise"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_turn_left"
            android:layout_centerVertical="true"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="上升"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_drop"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_front_paddle_extend"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="下降"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_right"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignBottom="@+id/btn_collect_fork"
            android:layout_alignParentRight="true"
            android:layout_centerVertical="true"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="右旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_turn_left"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentRight="true"
            android:layout_marginTop="70dp"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="左旋"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_back_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            android:layout_alignBottom="@+id/btn_front_paddle_collect"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="后拨杆收起"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_extend"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
            android:layout_alignBottom="@+id/btn_extend_fork"
            android:layout_marginRight="20sp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆伸出"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_front_paddle_collect"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignTop="@+id/btn_stop2"
            android:layout_alignParentLeft="true"
            android:layout_marginTop="-24dp"
            android:backgroundTint="#2196F3"
            android:minWidth="10dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:text="前拨杆收起"

            app:cornerRadius="5dp" />


    </RelativeLayout>

    <!--    ****************  单轴  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_single"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="gone">

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_1"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentLeft="true"
            android:layout_marginTop="10sp"
            android:layout_marginLeft="20sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 1"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_2"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_5"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 2"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_3"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentRight="true"
            android:layout_marginRight="20sp"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 3"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_4"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_1"
            android:layout_alignBottom="@+id/btn_single_5"
            android:backgroundTint="#2196F3"
            android:text="轴 - 4"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_5"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_centerInParent="true"
            android:backgroundTint="#2196F3"
            android:text="轴 - 5"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_6"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_3"
            android:layout_alignBottom="@+id/btn_single_5"
            android:backgroundTint="#2196F3"
            android:text="轴 - 6"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_7"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_1"
            android:layout_alignBottom="@+id/btn_single_8"
            android:backgroundTint="#2196F3"
            android:text="轴 - 7"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_8"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignParentBottom="true"
            android:layout_marginBottom="20sp"
            android:layout_alignLeft="@+id/btn_single_5"
            android:layout_marginTop="10sp"
            android:backgroundTint="#2196F3"
            android:text="轴 - 8"
            app:cornerRadius="5dp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_single_9"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:layout_alignLeft="@+id/btn_single_3"
            android:layout_alignBottom="@+id/btn_single_8"
            android:backgroundTint="#2196F3"
            android:text="轴 - 9"
            app:cornerRadius="5dp" />

    </RelativeLayout>

    <!--    ****************  复位  ****************    -->
    <RelativeLayout
        android:id="@+id/layout_reset"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="6"
        android:visibility="gone">

        <Button
            android:id="@+id/btn_stop3"
            android:layout_width="100sp"
            android:layout_height="100sp"
            android:layout_centerInParent="true"
            android:layout_margin="30sp"
            android:backgroundTint="#F62727"
            android:text="STOP"
            android:textSize="18sp" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_camera_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="相机复位"
            android:layout_marginLeft="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_load_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="清除路径"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentLeft="true"
@@ -99,34 +409,191 @@
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_force_switch"
            android:id="@+id/btn_fork_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="手动"
            android:text="货叉归零"
            android:layout_marginLeft="20sp"
            android:layout_centerVertical="true"
            android:layout_marginBottom="20sp"
            android:layout_alignParentBottom="true"
            android:layout_alignParentLeft="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:layout_alignLeft="@+id/btn_rotatopn_left"
            android:layout_alignBottom="@+id/btn_go_forward"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_gyro_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="陀螺仪复位"
            android:layout_marginRight="20sp"
            android:layout_marginTop="20sp"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_lift_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="升降归零"
            android:layout_marginRight="20sp"
            android:layout_centerVertical="true"
            android:layout_alignParentRight="true"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

        <com.google.android.material.button.MaterialButton
            android:id="@+id/btn_all_reset"
            android:layout_width="wrap_content"
            android:layout_height="wrap_content"
            android:text="整机复位"
            android:layout_marginRight="20sp"
            android:layout_alignParentRight="true"
            android:layout_alignParentBottom="true"
            android:layout_marginBottom="20sp"
            app:cornerRadius="5dp"
            android:paddingLeft="10dp"
            android:paddingRight="10dp"
            android:minWidth="10dp"
            android:backgroundTint="#2196F3" />

    </RelativeLayout>
<!--    <LinearLayout-->
<!--        android:layout_width="match_parent"-->
<!--        android:layout_height="0dp"-->
<!--        android:layout_weight="6">-->
<!--        -->
<!--    </LinearLayout>-->

    <!--    ****************  底部  ****************    -->
    <LinearLayout
        android:background="#334455"
        android:layout_width="match_parent"
        android:layout_height="0dp"
        android:layout_weight="1">

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_model_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="手动模式"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>



        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_single_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="单轴使能"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:onClick="switchSingle"
                android:textSize="10sp"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_body_switch"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="底盘"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchover"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

        <LinearLayout
            android:layout_width="0dp"
            android:layout_height="match_parent"
            android:layout_weight="1"
            android:gravity="center">
            <com.google.android.material.button.MaterialButton
                android:id="@+id/btn_reset"
                android:layout_width="wrap_content"
                android:layout_height="40dp"
                android:text="复位"
                android:layout_centerHorizontal="true"
                app:cornerRadius="5dp"
                android:paddingLeft="10dp"
                android:paddingRight="10dp"
                android:minWidth="10dp"
                android:textSize="10sp"
                android:onClick="switchRest"
                android:backgroundTint="#2196F3" />
        </LinearLayout>

<!--        <LinearLayout-->
<!--            android:layout_width="0dp"-->
<!--            android:layout_height="match_parent"-->
<!--            android:layout_weight="1"-->
<!--            android:gravity="center">-->
<!--            <com.google.android.material.button.MaterialButton-->
<!--                android:layout_width="wrap_content"-->
<!--                android:layout_height="40dp"-->
<!--                android:text="功能切换"-->
<!--                android:layout_centerHorizontal="true"-->
<!--                app:cornerRadius="5dp"-->
<!--                android:paddingLeft="10dp"-->
<!--                android:paddingRight="10dp"-->
<!--                android:minWidth="10dp"-->
<!--                android:textSize="10sp"-->
<!--                android:backgroundTint="#2196F3" />-->
<!--        </LinearLayout>-->


        <!--        <LinearLayout-->
        <!--            android:layout_width="0dp"-->
        <!--            android:layout_height="match_parent"-->
        <!--            android:layout_weight="1"-->
        <!--            android:gravity="center">-->
        <!--            <com.google.android.material.button.MaterialButton-->
        <!--                android:id="@+id/btn_force_switch"-->
        <!--                android:layout_width="wrap_content"-->
        <!--                android:layout_height="40dp"-->
        <!--                android:text="开启强制"-->
        <!--                android:layout_centerHorizontal="true"-->
        <!--                app:cornerRadius="5dp"-->
        <!--                android:paddingLeft="10dp"-->
        <!--                android:paddingRight="10dp"-->
        <!--                android:minWidth="10dp"-->
        <!--                android:textSize="10sp"-->
        <!--                android:backgroundTint="#2196F3" />-->
        <!--        </LinearLayout>-->

    </LinearLayout>