安卓权限添加

lib/features/remote_control/domain/usecase/diff_steer_usecase.dart

@@ -1,36 +1,28 @@
+/// 差速转向算法：摇杆坐标 -> 线速度/角速度（物理量）
+///
+/// 协议变更（2026-10）：0x00 指令不再下发左右轮速（int16），
+/// 改为下发线速度(m/s)、角速度(rad/s) 的 double 值，
+/// 速度到轮速的运动学换算改由机器端完成。
 class DiffSteerUseCase {
-  static const int polarityHigh = 0;
-  static const int polarityLow = 1;
+  /// 线速度满量程（m/s），以后按车型配置
+  static const double maxLinearSpeed = 1.0;
 
-  double _turnSpeedScale = 1500 / 100;
-  double _forwardSpeedScale = 3000 / 100;
-  int _speedAmplLimit = 3000;
+  /// 角速度满量程（rad/s），以后按车型配置
+  static const double maxAngularSpeed = 2.0;
 
-  int _leftWheelDir = polarityHigh;
-  int _rightWheelDir = polarityHigh;
-  int _xDir = polarityHigh;
-  int _yDir = polarityHigh;
+  /// 摇杆满格值（CCJoystick 输出范围 ±100）
+  static const int stickFullScale = 100;
 
-  Map<String, int> calculate(int x, int y) {
-    int turnSpeed = _signOperator((x * _turnSpeedScale).toInt(), _xDir);
-    int forwardSpeed = _signOperator((y * _forwardSpeedScale).toInt(), _yDir);
+  /// 摇杆坐标 (x, y) -> {'linear': 线速度 m/s, 'angular': 角速度 rad/s}
+  Map<String, double> calculate(int x, int y) {
+    // 摇杆原始值先归一化为 0~1 比例，再乘满量程物理量
+    double linear = (y / stickFullScale) * maxLinearSpeed;
+    double angular = (x / stickFullScale) * maxAngularSpeed;
 
-    // 倒车补偿
-    int adjustedTurn = (forwardSpeed >= 0 ? turnSpeed : -turnSpeed);
+    // 倒车补偿：倒车时转向反向，保持与旧轮速版一致的操作手感
+    // （若联调确认机器端已做该补偿，删除本行）
+    if (linear < 0) angular = -angular;
 
-    int left = _signOperator(forwardSpeed + adjustedTurn, _leftWheelDir);
-    int right = _signOperator(forwardSpeed - adjustedTurn, _rightWheelDir);
-
-    return {
-      'left': left.clamp(-_speedAmplLimit, _speedAmplLimit),
-      'right': right.clamp(-_speedAmplLimit, _speedAmplLimit),
-    };
+    return {'linear': linear, 'angular': angular};
   }
-
-  int _signOperator(int num, int polarity) =>
-      polarity != polarityHigh ? -num : num;
-
-
-
-
 }