From 69b40096cb0ae965f2a3e92672b880edfe7d04d2 Mon Sep 17 00:00:00 2001
From: 826220679@qq.com <826220679@qq.com>
Date: 星期六, 27 十二月 2025 21:14:09 +0800
Subject: [PATCH] 优化了登录页面
---
src/yaokong/Control03.java | 19 ++++++++++---------
1 files changed, 10 insertions(+), 9 deletions(-)
diff --git a/src/yaokong/Control03.java b/src/yaokong/Control03.java
index 01c28db..308ab11 100644
--- a/src/yaokong/Control03.java
+++ b/src/yaokong/Control03.java
@@ -198,6 +198,16 @@
return currentSteeringSpeed;
}
+ /**
+ * 鐩存帴璁剧疆骞跺彂閫佽浆鍚戝拰鍓嶈繘閫熷害锛堢敤浜庢寔缁彂閫佹帶鍒舵寚浠わ級
+ * @param steeringSpeed 杞悜閫熷害锛岃寖鍥�-100鍒�100
+ * @param forwardSpeed 鍓嶈繘閫熷害锛岃寖鍥�-100鍒�100
+ * @return 鏄惁鍙戦�佹垚鍔�
+ */
+ public static synchronized boolean setAndSendSpeeds(int steeringSpeed, int forwardSpeed) {
+ return sendSpeedsIfDebugSerialOpen(steeringSpeed, forwardSpeed);
+ }
+
private static boolean sendSpeedsIfDebugSerialOpen(int nextSteering, int nextForward) {
SerialPortService service = sendmessage.getActiveService();
if (service == null || !service.isOpen()) {
@@ -207,9 +217,6 @@
nextForward = clampSpeed(nextForward);
byte[] payload = buildSteeringCommandBytes((byte) nextSteering, (byte) nextForward);
- // 璋冭瘯锛氭墦鍗板彂閫佺殑鏁版嵁
- System.out.println("鍙戦�佽浆鍚戞寚浠�: " + bytesToHex(payload));
-
boolean success = sendmessage.sendViaActive(payload);
if (success) {
currentSteeringSpeed = nextSteering;
@@ -289,23 +296,17 @@
* 娴嬭瘯鍑芥暟锛氶獙璇佽浆鍚戞寚浠ゆ瀯寤�
*/
public static void testBuildSteeringCommand() {
- System.out.println("=== 娴嬭瘯淇鍚庣殑杞悜鎸囦护鏋勫缓 ===");
-
// 娴嬭瘯1锛氱洿琛屽墠杩�
byte[] cmd1 = buildSteeringCommandBytes((byte)0, (byte)50);
- System.out.println("鐩磋鍓嶈繘50: " + bytesToHex(cmd1));
// 娴嬭瘯2锛氬乏杞墠杩�
byte[] cmd2 = buildSteeringCommandBytes((byte)-30, (byte)40);
- System.out.println("宸﹁浆鍓嶈繘: " + bytesToHex(cmd2));
// 娴嬭瘯3锛氬彸杞悗閫�
byte[] cmd3 = buildSteeringCommandBytes((byte)20, (byte)-60);
- System.out.println("鍙宠浆鍚庨��: " + bytesToHex(cmd3));
// 娴嬭瘯4锛氬仠姝�
byte[] cmd4 = buildSteeringCommandBytes((byte)0, (byte)0);
- System.out.println("鍋滄: " + bytesToHex(cmd4));
}
}
\ No newline at end of file
--
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