feat

app/src/main/java/icu/fur93/esp32_car/MainActivity.kt

@@ -117,15 +117,15 @@ class MainActivity : ComponentActivity() {
             )
         }
 
-        // 检查权限后尝试自动连接
+        // // 检查权限后尝试自动连接
-        lifecycleScope.launch {
+        // lifecycleScope.launch {
-            preferencesDataStore.getLastConnectedDevice().collect { address ->
+        //     preferencesDataStore.getLastConnectedDevice().collect { address ->
-                if (address != null) {
+        //         if (address != null) {
-                    viewModel.connectToDeviceByAddress(address)
+        //             viewModel.connectToDeviceByAddress(address)
-                }
+        //         }
-            }
+        //     }
 
-        }
+        // }
 
         setContent {
             Esp32carTheme {

app/src/main/java/icu/fur93/esp32_car/const/CarCommands.kt

@@ -11,6 +11,8 @@ object CarCommands {
     const val CMD_GET_SPIFFS_STATUS = 0x11u
     const val CMD_GET_DISTANCE = 0x12u
 
+    const val CMD_SET_MODE = 0x30u
+
     const val CMD_SET_NAME = 0xa1u
     const val CMD_SET_PID = 0xa2u
 

app/src/main/java/icu/fur93/esp32_car/const/RunModeConsts.kt

@@ -0,0 +1,6 @@
+package icu.fur93.esp32_car.const
+
+object RunModeConsts {
+    const val MODE_MANUAL = 0x00u
+    const val MODE_TRACKING = 0x01u
+}

app/src/main/java/icu/fur93/esp32_car/entity/car/CarState.kt

@@ -2,6 +2,7 @@ package icu.fur93.esp32_car.entity.car
 
 data class CarState(
     val controlState: CarControlState = CarControlState(),
+    val runModeState: RunModeState = RunModeState(),
     val motorAState: MotorState = MotorState(),
     val motorBState: MotorState = MotorState(),
     val motorCState: MotorState = MotorState(),

app/src/main/java/icu/fur93/esp32_car/entity/car/RunModeState.kt

@@ -0,0 +1,7 @@
+package icu.fur93.esp32_car.entity.car
+
+import icu.fur93.esp32_car.const.RunModeConsts
+
+data class RunModeState(
+    val runMode: UInt = RunModeConsts.MODE_MANUAL,
+)

app/src/main/java/icu/fur93/esp32_car/entity/car/UltrasoundState.kt

@@ -3,5 +3,5 @@ package icu.fur93.esp32_car.entity.car
 data class UltrasoundState(
     val enable: Boolean = false,
     val servoAngle: UInt = 0u,
-    val distance: UInt = 0u
+    val distance: Float = 0f
 )

app/src/main/java/icu/fur93/esp32_car/page/ControlPage.kt

@@ -46,7 +46,7 @@ fun ControlPageStatusCard() {
 
 @Composable
 fun ControlPageAutoControl() {
-    val context = LocalContext.current
+    val navController = LocalNavigation.current
     return CardButtonGroup(
         title = "自动控制",
         buttons = listOf(
@@ -54,7 +54,7 @@ fun ControlPageAutoControl() {
                 text = Route.ControlPathfinderMode.title,
                 icon = ImageVector.vectorResource(R.drawable.outline_route_24),
                 onClick = {
-                    Toast.makeText(context, "暂未实现", Toast.LENGTH_SHORT).show()
+                    navController.navigate(Route.ControlPathfinderMode.route)
                 }
             )
         )

app/src/main/java/icu/fur93/esp32_car/page/ControlPathfinderModePage.kt

@@ -1,8 +1,56 @@
 package icu.fur93.esp32_car.page
 
+import androidx.compose.foundation.layout.Column
 import androidx.compose.runtime.Composable
+import androidx.compose.runtime.collectAsState
+import androidx.compose.runtime.getValue
+import icu.fur93.esp32_car.Route
+import icu.fur93.esp32_car.ui.carditem.StatusCardInfo
+import icu.fur93.esp32_car.ui.component.PageTitle
+import icu.fur93.esp32_car.ui.theme.LayoutContentModifier
 import icu.fur93.esp32_car.viewmodel.CarViewModel
+import icu.fur93.esp32_car.ui.carditem.StatusCardInfraredStatus
+import icu.fur93.esp32_car.ui.carditem.StatusCardMotorStatus
+import icu.fur93.esp32_car.ui.carditem.StatusCardPathfinderStatus
+import icu.fur93.esp32_car.ui.component.StatusCard
+import icu.fur93.esp32_car.const.RunModeConsts
+import androidx.compose.material3.Button
+import androidx.compose.material3.Text
+import icu.fur93.esp32_car.const.CarCommands
+import icu.fur93.esp32_car.ui.carditem.StatusCardUltrasoundStatus
 
 @Composable
 fun ControlPathfinderModePage(viewModel: CarViewModel) {
+
+    Column(LayoutContentModifier) {
+        PageTitle(Route.ControlPathfinderMode.title)
+        ControlPathfinderModeStatusCard(viewModel)
+    }
+}
+
+@Composable
+fun ControlPathfinderModeStatusCard(viewModel: CarViewModel) {
+    val deviceInfo by viewModel.connectionInfoState.collectAsState()
+    val carState by viewModel.carState.collectAsState()
+
+    StatusCard(
+        cardItems = listOf(
+            StatusCardInfo(deviceInfo),
+            StatusCardMotorStatus(carState),
+            StatusCardInfraredStatus(carState.infraredState),
+            StatusCardUltrasoundStatus(carState.ultrasoundState),
+            StatusCardPathfinderStatus(carState.runModeState)
+        ),
+        bottomControl = {
+            Button(onClick = {
+                if (carState.runModeState.runMode == RunModeConsts.MODE_TRACKING) {
+                    viewModel.setRunMode(RunModeConsts.MODE_MANUAL.toInt())
+                } else {
+                    viewModel.setRunMode(RunModeConsts.MODE_TRACKING.toInt())
+                }
+            }) {
+                Text(if (carState.runModeState.runMode == RunModeConsts.MODE_TRACKING) "停止" else "开始")
+            }
+        }
+    )
 }

app/src/main/java/icu/fur93/esp32_car/page/ControlSingleJoystickMode.kt

@@ -10,6 +10,9 @@ import androidx.compose.foundation.layout.height
 import androidx.compose.foundation.layout.padding
 import androidx.compose.material3.FilledIconButton
 import androidx.compose.material3.Icon
+import androidx.compose.material3.MaterialTheme
+import androidx.compose.material3.Switch
+import androidx.compose.material3.Text
 import androidx.compose.runtime.Composable
 import androidx.compose.runtime.collectAsState
 import androidx.compose.runtime.getValue
@@ -72,55 +75,84 @@ fun ControlSingleJoystickModeControlPanel(
     viewModel: CarViewModel,
     onJoystickStateChange: (JoystickState) -> Unit
 ) {
+    // 添加Y轴限位模式的状态
+    var yAxisOnly by remember { mutableStateOf(false) }
 
     Spacer(Modifier.height(24.dp))
 
-    Row(
+    Column(
         modifier = Modifier.fillMaxWidth(),
-        horizontalArrangement = Arrangement.SpaceBetween,
+        horizontalAlignment = Alignment.CenterHorizontally
-        verticalAlignment = Alignment.CenterVertically
     ) {
-        FilledIconButton(
+        // 添加开关控件
-            onClick = {},
+        Row(
-            modifier = Modifier.pointerInteropFilter { event ->
+            modifier = Modifier
-                when (event.action) {
+                .fillMaxWidth()
-                    MotionEvent.ACTION_DOWN -> {
+                .padding(horizontal = 16.dp),
-                        viewModel.sendXYR(0, 0, -50)
+            horizontalArrangement = Arrangement.SpaceBetween,
-                        true
+            verticalAlignment = Alignment.CenterVertically
-                    }
-                    MotionEvent.ACTION_UP -> {
-                        viewModel.stop()
-                        true
-                    }
-                    else -> false
-                }
-            }
         ) {
-            Icon(ImageVector.vectorResource(R.drawable.rotate_left_24), "逆时针旋转")
+            Text(
+                text = "Y 轴限位模式",
+                style = MaterialTheme.typography.bodyLarge
+            )
+            Switch(
+                checked = yAxisOnly,
+                onCheckedChange = { yAxisOnly = it }
+            )
         }
 
-        ControlJoystick(
+        Spacer(Modifier.height(16.dp))
-            viewModel = viewModel,
-            onJoystickStateChange = onJoystickStateChange
-        )
 
-        FilledIconButton(
+        // 原有的控制面板布局
-            onClick = {},
+        Row(
-            modifier = Modifier.pointerInteropFilter { event ->
+            modifier = Modifier.fillMaxWidth(),
-                when (event.action) {
+            horizontalArrangement = Arrangement.SpaceBetween,
-                    MotionEvent.ACTION_DOWN -> {
+            verticalAlignment = Alignment.CenterVertically
-                        viewModel.sendXYR(0, 0, 50)
-                        true
-                    }
-                    MotionEvent.ACTION_UP -> {
-                        viewModel.stop()
-                        true
-                    }
-                    else -> false
-                }
-            }
         ) {
-            Icon(ImageVector.vectorResource(R.drawable.rotate_right_24), "顺时针旋转")
+            FilledIconButton(
+                onClick = {},
+                modifier = Modifier.pointerInteropFilter { event ->
+                    when (event.action) {
+                        MotionEvent.ACTION_DOWN -> {
+                            viewModel.rotateLeft(100)
+                            true
+                        }
+                        MotionEvent.ACTION_UP -> {
+                            viewModel.stop()
+                            true
+                        }
+                        else -> false
+                    }
+                }
+            ) {
+                Icon(ImageVector.vectorResource(R.drawable.rotate_left_24), "逆时针旋转")
+            }
+
+            ControlJoystick(
+                viewModel = viewModel,
+                onJoystickStateChange = onJoystickStateChange,
+                yAxisOnly = yAxisOnly  // 传递Y轴限位模式状态
+            )
+
+            FilledIconButton(
+                onClick = {},
+                modifier = Modifier.pointerInteropFilter { event ->
+                    when (event.action) {
+                        MotionEvent.ACTION_DOWN -> {
+                            viewModel.rotateRight(100)
+                            true
+                        }
+                        MotionEvent.ACTION_UP -> {
+                            viewModel.stop()
+                            true
+                        }
+                        else -> false
+                    }
+                }
+            ) {
+                Icon(ImageVector.vectorResource(R.drawable.rotate_right_24), "顺时针旋转")
+            }
         }
     }
 }
@@ -128,7 +160,8 @@ fun ControlSingleJoystickModeControlPanel(
 @Composable
 fun ControlJoystick(
     viewModel: CarViewModel,
-    onJoystickStateChange: (JoystickState) -> Unit
+    onJoystickStateChange: (JoystickState) -> Unit,
+    yAxisOnly: Boolean = false  // 添加参数
 ) {
     // 记住上一次发送的状态和时间
     val lastSentState = remember { mutableStateOf(JoystickState()) }
@@ -142,7 +175,8 @@ fun ControlJoystick(
 
     Joystick(
         size = 175.dp,
-        knobScale = 0.25f
+        knobScale = 0.25f,
+        yAxisOnly = yAxisOnly,  // 使用传入的参数
     ) { state ->
         // 更新状态
         onJoystickStateChange(state)

app/src/main/java/icu/fur93/esp32_car/page/SettingsPage.kt

@@ -21,6 +21,8 @@ import androidx.compose.ui.Modifier
 import androidx.compose.ui.graphics.vector.ImageVector
 import androidx.compose.ui.platform.LocalContext
 import androidx.compose.ui.res.vectorResource
+import androidx.compose.foundation.text.KeyboardOptions
+import androidx.compose.ui.text.input.KeyboardType
 import icu.fur93.esp32_car.BuildConfig
 import icu.fur93.esp32_car.R
 import icu.fur93.esp32_car.Route
@@ -63,6 +65,8 @@ fun SettingsList(viewModel: CarViewModel) {
     val context = LocalContext.current
 
     var debugMode by remember { mutableStateOf(DebugWindowManager.isShowing()) }
+    var showSensitivityDialog by remember { mutableStateOf(false) }
+    var showSpeedDialog by remember { mutableStateOf(false) }
 
     val onDebugModeChange = { enable: Boolean ->
         if (enable) {
@@ -94,16 +98,122 @@ fun SettingsList(viewModel: CarViewModel) {
         }
         item {
             ListItem(
-                headlineContent = { Text("PID 参数") },
+                headlineContent = { Text("循迹灵敏度设置") },
                 trailingContent = {
                     Icon(
                         ImageVector.vectorResource(R.drawable.arrow_right_24),
-                        contentDescription = "PID 参数"
+                        contentDescription = "循迹灵敏度设置"
                     )
-                }
+                },
+                modifier = Modifier.clickable { showSensitivityDialog = true }
+            )
+            ListItem(
+                headlineContent = { Text("循迹速度设置") },
+                trailingContent = {
+                    Icon(
+                        ImageVector.vectorResource(R.drawable.arrow_right_24),
+                        contentDescription = "循迹速度设置"
+                    )
+                },
+                modifier = Modifier.clickable { showSpeedDialog = true }
             )
         }
     }
+
+    // 循迹灵敏度设置对话框
+    if (showSensitivityDialog) {
+        var sensitivity by remember { mutableStateOf("3") }
+        
+        AlertDialog(
+            onDismissRequest = { showSensitivityDialog = false },
+            title = { Text("设置循迹灵敏度") },
+            text = {
+                Column {
+                    Text("请输入灵敏度值 (1-10)：")
+                    androidx.compose.material3.TextField(
+                        value = sensitivity,
+                        onValueChange = { 
+                            if (it.isEmpty() || (it.toIntOrNull() in 1..10)) {
+                                sensitivity = it 
+                            }
+                        },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number)
+                    )
+                }
+            },
+            confirmButton = {
+                TextButton(
+                    onClick = {
+                        sensitivity.toIntOrNull()?.let { value ->
+                            viewModel.setPathfinderSensitivity(value)
+                        }
+                        showSensitivityDialog = false
+                    }
+                ) {
+                    Text("确定")
+                }
+            },
+            dismissButton = {
+                TextButton(onClick = { showSensitivityDialog = false }) {
+                    Text("取消")
+                }
+            }
+        )
+    }
+
+    // 循迹速度设置对话框
+    if (showSpeedDialog) {
+        var baseSpeed by remember { mutableStateOf("50") }
+        var turnSpeed by remember { mutableStateOf("50") }
+        
+        AlertDialog(
+            onDismissRequest = { showSpeedDialog = false },
+            title = { Text("设置循迹速度") },
+            text = {
+                Column {
+                    Text("请输入基础速度 (0-255)：")
+                    androidx.compose.material3.TextField(
+                        value = baseSpeed,
+                        onValueChange = { 
+                            if (it.isEmpty() || (it.toIntOrNull() in 0..255)) {
+                                baseSpeed = it 
+                            }
+                        },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number)
+                    )
+                    Text("请输入转弯速度 (0-255)：")
+                    androidx.compose.material3.TextField(
+                        value = turnSpeed,
+                        onValueChange = { 
+                            if (it.isEmpty() || (it.toIntOrNull() in 0..255)) {
+                                turnSpeed = it 
+                            }
+                        },
+                        keyboardOptions = KeyboardOptions(keyboardType = KeyboardType.Number)
+                    )
+                }
+            },
+            confirmButton = {
+                TextButton(
+                    onClick = {
+                        val base = baseSpeed.toIntOrNull()
+                        val turn = turnSpeed.toIntOrNull()
+                        if (base != null && turn != null) {
+                            viewModel.setPathfinderSpeed(base, turn)
+                        }
+                        showSpeedDialog = false
+                    }
+                ) {
+                    Text("确定")
+                }
+            },
+            dismissButton = {
+                TextButton(onClick = { showSpeedDialog = false }) {
+                    Text("取消")
+                }
+            }
+        )
+    }
 }
 
 

app/src/main/java/icu/fur93/esp32_car/repository/BluetoothRepository.kt

@@ -33,6 +33,9 @@ import icu.fur93.esp32_car.entity.LogEntry
 import icu.fur93.esp32_car.entity.car.CarState
 import icu.fur93.esp32_car.entity.car.InfraredState
 import icu.fur93.esp32_car.entity.car.MotorState
+import icu.fur93.esp32_car.entity.car.RunModeState
+import icu.fur93.esp32_car.entity.car.UltrasoundState
+import icu.fur93.esp32_car.utils.Utils
 
 // 蓝牙通信接口
 interface BluetoothRepository {
@@ -91,6 +94,48 @@ class BluetoothRepositoryImpl(
     private val _deviceAddress = MutableStateFlow<String?>(null)
     override val deviceAddress: StateFlow<String?> = _deviceAddress.asStateFlow()
 
+    private var notificationRetryCount = 0
+    private val MAX_NOTIFICATION_RETRIES = 3
+
+    @SuppressLint("MissingPermission")
+    private fun enableNotifications(gatt: BluetoothGatt, characteristic: BluetoothGattCharacteristic) {
+        scope.launch {
+            var success = false
+            var retryCount = 0
+
+            while (!success && retryCount < MAX_NOTIFICATION_RETRIES) {
+                success = try {
+                    gatt.setCharacteristicNotification(characteristic, true)
+                    
+                    // 等待一小段时间确保设置生效
+                    delay(100)
+                    
+                    // 写入描述符
+                    characteristic.descriptors.forEach { descriptor ->
+                        descriptor.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
+                        gatt.writeDescriptor(descriptor)
+                        // 等待描述符写入完成
+                        delay(100)
+                    }
+                    true
+                } catch (e: Exception) {
+                    Log.e("BluetoothRepository", "启用通知失败: ${e.message}")
+                    delay(200) // 失败后等待一段时间再重试
+                    false
+                }
+                
+                if (!success) {
+                    retryCount++
+                    Log.d("BluetoothRepository", "重试启用通知 #$retryCount")
+                }
+            }
+
+            if (!success) {
+                Log.e("BluetoothRepository", "无法启用通知，已达到最大重试次数")
+            }
+        }
+    }
+
     private val scanCallback = object : ScanCallback() {
         override fun onScanResult(callbackType: Int, result: ScanResult) {
             val bleDevice = BleDevice(
@@ -213,33 +258,45 @@ class BluetoothRepositoryImpl(
 
                 override fun onServicesDiscovered(gatt: BluetoothGatt?, status: Int) {
                     super.onServicesDiscovered(gatt, status)
-                    if (status == BluetoothGatt.GATT_SUCCESS) {
+                    if (status == BluetoothGatt.GATT_SUCCESS && gatt != null) {
                         // 读取设备名称
-                        val genericService =
+                        val genericService = gatt.getService(UUID.fromString("00001800-0000-1000-8000-00805f9b34fb"))
-                            gatt?.getService(UUID.fromString("00001800-0000-1000-8000-00805f9b34fb"))
+                        val deviceNameChar = genericService?.getCharacteristic(UUID.fromString("00002a00-0000-1000-8000-00805f9b34fb"))
-                        val deviceNameChar =
-                            genericService?.getCharacteristic(UUID.fromString("00002a00-0000-1000-8000-00805f9b34fb"))
                         if (deviceNameChar != null) {
                             gatt.readCharacteristic(deviceNameChar)
                         }
 
-                        gatt?.getService(UUID.fromString(serviceUUID))?.let { service ->
+                        gatt.getService(UUID.fromString(serviceUUID))?.let { service ->
                             bluetoothGatt = gatt
-                            rxCharacteristic =
+                            rxCharacteristic = service.getCharacteristic(UUID.fromString(rxCharUUID))
-                                service.getCharacteristic(UUID.fromString(rxCharUUID))
 
-                            // 注册通知监听器
+                            // 使用新的通知启用方法
-                            val txCharacteristic =
+                            val txCharacteristic = service.getCharacteristic(UUID.fromString(txCharUUID))
-                                service.getCharacteristic(UUID.fromString(txCharUUID))
+                            if (txCharacteristic != null) {
-                            gatt.setCharacteristicNotification(txCharacteristic, true)
+                                enableNotifications(gatt, txCharacteristic)
-                            txCharacteristic.descriptors.forEach { descriptor ->
-                                descriptor.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
-                                gatt.writeDescriptor(descriptor)
                             }
                         }
                     }
                 }
 
+                override fun onDescriptorWrite(
+                    gatt: BluetoothGatt,
+                    descriptor: BluetoothGattDescriptor,
+                    status: Int
+                ) {
+                    super.onDescriptorWrite(gatt, descriptor, status)
+                    if (status != BluetoothGatt.GATT_SUCCESS) {
+                        Log.e("BluetoothRepository", "描述符写入失败: $status")
+                        // 如果写入失败，尝试重新启用通知
+                        val characteristic = descriptor.characteristic
+                        if (characteristic.uuid == UUID.fromString(txCharUUID)) {
+                            enableNotifications(gatt, characteristic)
+                        }
+                    } else {
+                        Log.d("BluetoothRepository", "描述符写入成功")
+                    }
+                }
+
                 override fun onCharacteristicRead(
                     gatt: BluetoothGatt,
                     characteristic: BluetoothGattCharacteristic,
@@ -260,6 +317,7 @@ class BluetoothRepositoryImpl(
                     value: ByteArray
                 ) {
                     super.onCharacteristicChanged(gatt, characteristic, value)
+                    Log.d("onCharacteristicChanged", "characteristic: ${characteristic.uuid}, value: ${value.joinToString(" ")}")
                     if (characteristic.uuid == UUID.fromString(txCharUUID)) {
                         onReceivePacket(value)
                     }
@@ -274,46 +332,6 @@ class BluetoothRepositoryImpl(
         )
     }
 
-    @SuppressLint("MissingPermission")
-    fun connectToDeviceByAddress(
-        address: String,
-        callback: ((Boolean, BluetoothDevice) -> Unit)? = null
-    ) {
-        val bluetoothManager =
-            context.getSystemService(Context.BLUETOOTH_SERVICE) as BluetoothManager
-        val device = bluetoothManager.adapter.getRemoteDevice(address)
-        if (callback != null) {
-            connectToDevice(device) { isConnected, deviceDetail ->
-                callback(isConnected, deviceDetail ?: device)
-            }
-        } else {
-            connectToDevice(device)
-        }
-
-    }
-
-    @SuppressLint("MissingPermission")
-    private fun setupDeviceNameNotification(gatt: BluetoothGatt) {
-        val service = gatt.getService(UUID.fromString(deviceInfoServiceUUID))
-        val characteristic = service?.getCharacteristic(UUID.fromString(deviceNameCharUUID))
-
-        characteristic?.let { char ->
-            // 启用通知
-            gatt.setCharacteristicNotification(char, true)
-
-            // 获取 descriptor 并写入通知使能值
-            val descriptor =
-                char.getDescriptor(UUID.fromString("00002902-0000-1000-8000-00805f9b34fb"))
-            descriptor?.let {
-                it.value = BluetoothGattDescriptor.ENABLE_NOTIFICATION_VALUE
-                gatt.writeDescriptor(it)
-            }
-
-            // 同时也读取一次当前值
-            gatt.readCharacteristic(char)
-        }
-    }
-
     @SuppressLint("MissingPermission")
     override fun sendCommand(command: ByteArray) {
         rxCharacteristic?.let { characteristic ->
@@ -345,16 +363,17 @@ class BluetoothRepositoryImpl(
         if (!isValidPacket(packet)) return
 
         /**
-        包体 `01 0E E0 电机A_IN_1_2 电机A_PWM 电机B_IN_1_2 电机B_PWM 电机C_IN_1_2 电机C_PWM 电机D_IN_1_2 电机D_PWM 红外引脚数量 红外数据 FE`
+        包体 `01 0F E0 运行模式 电机A_IN_1_2 电机A_PWM 电机B_IN_1_2 电机B_PWM 电机C_IN_1_2 电机C_PWM 电机D_IN_1_2 电机D_PWM 红外引脚数量 红外数据 FE`
 
         | 数据 | 类型 | 表示 |
         | -------- | ---- | ---- |
+        | 运行模式 | 无符号整数 | 0x00 手动模式，0x01 巡线模式 |
         | IN_1_2  | 无符号整数 | 按位表示 IN1 IN2 的值， 0000 00 IN2 IN1 |
         | PWM     | 无符号整数 | - |
         | 红外引脚数量 | 无符号整数 | - |
         | 红外数据 | 无符号整数 | 按位表示红外循迹模块数据， 0001 1111 |
 
-        示例 `01 0E E0 01 FF 02 FF 02 FF 01 FF 05 1F FE`
+        示例 `01 0F E0 00 01 FF 02 FF 02 FF 01 FF 05 1F FE`
          **/
 
         when (packet[2].toUByte().toUInt()) {
@@ -373,11 +392,22 @@ class BluetoothRepositoryImpl(
     private fun updateStatus(packet: ByteArray) {
         val data = packet.sliceArray(3 until packet[1].toUByte().toInt() - 1)
         _carState.value = _carState.value.copy(
-            motorAState = createMotorState(data, 0),
+            runModeState = RunModeState(data[0].toUByte().toUInt()),
-            motorBState = createMotorState(data, 2),
+            motorAState = createMotorState(data, 1),
-            motorCState = createMotorState(data, 4),
+            motorBState = createMotorState(data, 3), 
-            motorDState = createMotorState(data, 6),
+            motorCState = createMotorState(data, 5),
-            infraredState = createInfraredState(data[8].toUByte().toInt(), data[9].toUByte())
+            motorDState = createMotorState(data, 7),
+            infraredState = createInfraredState(data[9].toUByte().toInt(), data[10].toUByte()),
+            ultrasoundState = UltrasoundState(
+                true,
+                0u,
+                Utils.bytesToFloat(byteArrayOf(
+                    data[11],
+                    data[12],
+                    data[13],
+                    data[14]
+                ))
+            )
         )
     }
 

app/src/main/java/icu/fur93/esp32_car/ui/carditem/StatusCardPathfinderStatus.kt

@@ -4,14 +4,16 @@ import android.annotation.SuppressLint
 import androidx.compose.runtime.Composable
 import icu.fur93.esp32_car.ui.component.CardItem
 import icu.fur93.esp32_car.ui.component.StatusCardItemText
+import icu.fur93.esp32_car.const.RunModeConsts
+import icu.fur93.esp32_car.entity.car.RunModeState
 
 @SuppressLint("ComposableNaming")
 @Composable
-fun StatusCardPathfinderStatus () : CardItem {
+fun StatusCardPathfinderStatus (runModeState: RunModeState) : CardItem {
     return CardItem(
         title = "循迹状态",
         content = {
-            StatusCardItemText("进行中")
+            StatusCardItemText(if (runModeState.runMode == RunModeConsts.MODE_TRACKING) "进行中" else "未进行")
         }
     )
 }

app/src/main/java/icu/fur93/esp32_car/ui/component/Joystick.kt

@@ -22,6 +22,7 @@ fun Joystick(
     modifier: Modifier = Modifier,
     size: Dp = 200.dp,
     knobScale: Float = 0.4f,
+    yAxisOnly: Boolean = false,
     onJoystickMove: (JoystickState) -> Unit
 ) {
     // 状态管理
@@ -46,14 +47,26 @@ fun Joystick(
                     onDragStart = { offset ->
                         isDragging = true
                         centerPoint = Offset(sizePx / 2, sizePx / 2)
-                        updateStickPosition(offset, centerPoint, radius, innerRadius) { newPos ->
+                        updateStickPosition(
+                            offset, 
+                            centerPoint, 
+                            radius, 
+                            innerRadius,
+                            yAxisOnly
+                        ) { newPos ->
                             stickPosition = newPos
                             val state = calculateJoystickState(centerPoint, newPos, radius)
                             onJoystickMove(state)
                         }
                     },
                     onDrag = { change, _ ->
-                        updateStickPosition(change.position, centerPoint, radius, innerRadius) { newPos ->
+                        updateStickPosition(
+                            change.position, 
+                            centerPoint, 
+                            radius, 
+                            innerRadius,
+                            yAxisOnly
+                        ) { newPos ->
                             stickPosition = newPos
                             val state = calculateJoystickState(centerPoint, newPos, radius)
                             onJoystickMove(state)
@@ -93,25 +106,32 @@ private fun updateStickPosition(
     centerPoint: Offset,
     maxRadius: Float,
     knobRadius: Float,
+    yAxisOnly: Boolean,
     onUpdate: (Offset) -> Unit
 ) {
+    val deltaX = pointerPosition.x - centerPoint.x
+    val deltaY = pointerPosition.y - centerPoint.y
+    
+    // 如果是 Y 轴限位模式，将 X 坐标固定在中心
+    val adjustedX = if (yAxisOnly) centerPoint.x else pointerPosition.x
+    val adjustedPosition = Offset(adjustedX, pointerPosition.y)
+
     val distance = hypot(
-        pointerPosition.x - centerPoint.x,
+        adjustedPosition.x - centerPoint.x,
-        pointerPosition.y - centerPoint.y
+        adjustedPosition.y - centerPoint.y
     )
 
     val newPosition = if (distance > maxRadius) {
-        // 限制在最大范围内
         val angle = atan2(
-            pointerPosition.y - centerPoint.y,
+            adjustedPosition.y - centerPoint.y,
-            pointerPosition.x - centerPoint.x
+            adjustedPosition.x - centerPoint.x
         )
         Offset(
             centerPoint.x + (maxRadius * kotlin.math.cos(angle)),
             centerPoint.y + (maxRadius * kotlin.math.sin(angle))
         )
     } else {
-        pointerPosition
+        adjustedPosition
     }
 
     onUpdate(newPosition)

app/src/main/java/icu/fur93/esp32_car/utils/Utils.kt

@@ -0,0 +1,33 @@
+package icu.fur93.esp32_car.utils
+
+class Utils {
+    companion object {
+        /**
+         * 将 Float 转换为字节数组
+         */
+        fun floatToBytes(value: Float): ByteArray {
+            return value.toBits().let { bits ->
+                byteArrayOf(
+                    (bits and 0xFF).toByte(),
+                    ((bits shr 8) and 0xFF).toByte(),
+                    ((bits shr 16) and 0xFF).toByte(),
+                    ((bits shr 24) and 0xFF).toByte()
+                )
+            }
+        }
+
+        /**
+         * 将字节数组转换为 Float
+         */
+        fun bytesToFloat(bytes: ByteArray): Float {
+            require(bytes.size >= 4) { "字节数组长度必须大于等于4" }
+
+            return Float.fromBits(
+                (bytes[3].toInt() and 0xFF shl 24) or
+                        (bytes[2].toInt() and 0xFF shl 16) or
+                        (bytes[1].toInt() and 0xFF shl 8) or
+                        (bytes[0].toInt() and 0xFF)
+            )
+        }
+    }
+}

app/src/main/java/icu/fur93/esp32_car/viewmodel/CarViewModel.kt

@@ -2,11 +2,10 @@ package icu.fur93.esp32_car.viewmodel
 
 import android.annotation.SuppressLint
 import android.bluetooth.BluetoothDevice
-import android.util.Log
-import androidx.compose.ui.platform.ComposeView
 import androidx.lifecycle.ViewModel
 import androidx.lifecycle.viewModelScope
 import icu.fur93.esp32_car.const.CarCommands
+import icu.fur93.esp32_car.const.RunModeConsts
 import icu.fur93.esp32_car.entity.BleDevice
 import icu.fur93.esp32_car.entity.LogEntry
 import icu.fur93.esp32_car.entity.car.CarState
@@ -20,7 +19,6 @@ import kotlinx.coroutines.flow.StateFlow
 import kotlinx.coroutines.flow.asStateFlow
 import kotlinx.coroutines.flow.stateIn
 import kotlinx.coroutines.launch
-import android.view.WindowManager
 import kotlinx.coroutines.flow.combine
 
 
@@ -44,10 +42,28 @@ class CarControlUseCase(
         buildCommand(CarCommands.CMD_MOTOR_STEER_CONTROL, 0x01, speed)
     )
 
+    fun rotateLeft(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_ROTATE_CONTROL, 0x01, speed)
+    )
+
+    fun rotateRight(speed: Int = 255) = repository.sendCommand(
+        buildCommand(CarCommands.CMD_MOTOR_ROTATE_CONTROL, 0x00, speed)
+    )
+
     fun stop() = repository.sendCommand(
         buildCommand(CarCommands.CMD_MOTOR_MOVE_CONTROL, 0x00, 0x00)
     )
 
+    fun setRunMode(mode: Int) = repository.sendCommand(
+        byteArrayOf(
+            CarCommands.PACKET_T_HEAD.toByte(),
+            0x05,
+            CarCommands.CMD_SET_MODE.toByte(),
+            mode.toByte(),
+            CarCommands.PACKET_T_TAIL.toByte()
+        )
+    )
+
     fun sendXYR(x: Int, y: Int, r: Int) = repository.sendCommand(
         byteArrayOf(
             CarCommands.PACKET_T_HEAD.toByte(),
@@ -60,6 +76,27 @@ class CarControlUseCase(
         )
     )
 
+    fun setPathfinderSpeed(baseSpeed: Int, turnSpeed: Int) = repository.sendCommand(
+        byteArrayOf(
+            CarCommands.PACKET_T_HEAD.toByte(),
+            0x06,
+            0xA3.toByte(),
+            baseSpeed.toByte(),
+            turnSpeed.toByte(),
+            CarCommands.PACKET_T_TAIL.toByte()
+        )
+    )
+
+    fun setPathfinderSensitivity(sensitivity: Int) = repository.sendCommand(
+        byteArrayOf(
+            CarCommands.PACKET_T_HEAD.toByte(),
+            0x05,
+            0xA4.toByte(),
+            sensitivity.toByte(),
+            CarCommands.PACKET_T_TAIL.toByte()
+        )
+    )
+
     private fun buildCommand(cmd: UInt, param1: Int, param2: Int) = byteArrayOf(
         CarCommands.PACKET_T_HEAD.toByte(),
         0x06,
@@ -88,11 +125,6 @@ class CarViewModel(
         (repository as BluetoothRepositoryImpl).connectToDevice(device)
     }
 
-    @SuppressLint("MissingPermission")
-    fun connectToDeviceByAddress(address: String) {
-        (repository as BluetoothRepositoryImpl).connectToDeviceByAddress(address)
-    }
-
     val carState: StateFlow<CarState> = repository.observeCarState()
         .stateIn(viewModelScope, SharingStarted.WhileSubscribed(), CarState())
 
@@ -157,6 +189,15 @@ class CarViewModel(
     fun turnLeft(speed: Int = 255) = carControlUseCase.turnLeft(speed)
     fun turnRight(speed: Int = 255) = carControlUseCase.turnRight(speed)
     fun stop() = carControlUseCase.stop()
+    fun rotateLeft(speed: Int = 255) = carControlUseCase.rotateLeft(speed)
+    fun rotateRight(speed: Int = 255) = carControlUseCase.rotateRight(speed)
+    fun setRunMode(mode: Int) = carControlUseCase.setRunMode(mode)
     fun sendXYR(x: Int, y: Int, r: Int) = carControlUseCase.sendXYR(x, y, r)
     fun clearLogs() = repository.clearLogs()
+
+    fun setPathfinderSpeed(baseSpeed: Int, turnSpeed: Int) = 
+        carControlUseCase.setPathfinderSpeed(baseSpeed, turnSpeed)
+    
+    fun setPathfinderSensitivity(sensitivity: Int) = 
+        carControlUseCase.setPathfinderSensitivity(sensitivity)
 }