新增IV里接收单片机里的左右补偿变量

app/build.gradle

@@ -3,11 +3,11 @@ plugins {
 }
 
 android {
-    namespace 'com.example.removemarineanimals'
+    namespace 'com.example.fivewheel'
     compileSdk 34
 
     defaultConfig {
-        applicationId "com.example.removemarineanimals"
+        applicationId "com.example.fivewheel"
         minSdk 24
         targetSdk 34
         versionCode 1

app/src/androidTest/java/com/example/removemarineanimals/AppDatabase.java → app/src/androidTest/java/com/example/fivewheel/AppDatabase.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import android.content.Context;
 

app/src/androidTest/java/com/example/removemarineanimals/ExampleInstrumentedTest.java → app/src/androidTest/java/com/example/fivewheel/ExampleInstrumentedTest.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import android.content.Context;
 

app/src/androidTest/java/com/example/removemarineanimals/RobotLog.java → app/src/androidTest/java/com/example/fivewheel/RobotLog.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import androidx.room.ColumnInfo;
 import androidx.room.Entity;

app/src/androidTest/java/com/example/removemarineanimals/RobotLogDao.java → app/src/androidTest/java/com/example/fivewheel/RobotLogDao.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import androidx.room.Dao;
 import androidx.room.Insert;

app/src/main/java/bsp_Error.proto

@@ -1,7 +1,7 @@
 syntax = "proto3";
 
 option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
+option java_package = "com.example.fivewheel.models";
 
 message ErrorData
 { 

app/src/main/java/bsp_IV.proto

@@ -1,6 +1,6 @@
 syntax = "proto3";
 option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
+option java_package = "com.example.fivewheel.models";
 
 message IV_struct_define{
 
@@ -18,4 +18,7 @@ message IV_struct_define{
 	  int32 Robot_Error_Left = 11;
 	  int32 Robot_Error_Right = 12;
 
+      int32 Robot_Compensation_Left = 13;
+      int32 Robot_Compensation_Right = 14;
+
 };

app/src/main/java/bsp_PV.proto

@@ -1,12 +1,11 @@
 syntax = "proto3";
 
 option java_multiple_files = false;
-option java_package = "com.example.removemarineanimals.models";
+option java_package = "com.example.fivewheel.models";
 message PV_struct_define{
  
 	  int32 Robot_ChgLength= 1;
-	  double Robot_LeftCompensation=2;
- 	  double Robot_RightCompensation=3; 
- 	  double Robot_AutoSpeedBase=4; 
-	  double Robot_ManualSpeedBase=5; 
+
+ 	  double Robot_AutoSpeedBase=2;
+	  double Robot_ManualSpeedBase=3;
 };

app/src/main/java/com/example/removemarineanimals/MainActivity.java → app/src/main/java/com/example/fivewheel/MainActivity.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import android.content.Context;
 import android.content.SharedPreferences;
@@ -14,13 +14,13 @@ import androidx.databinding.DataBindingUtil;
 import androidx.lifecycle.ViewModelProvider;
 import androidx.lifecycle.ViewModelStoreOwner;
 
-import com.example.removemarineanimals.databinding.ActivityMainBinding;
-import com.example.removemarineanimals.models.BspPV;
-import com.example.removemarineanimals.models.RobotRMACM;
-import com.example.removemarineanimals.services.ModbusCRC;
-import com.example.removemarineanimals.services.VideoPlayerHelper;
-import com.example.removemarineanimals.services.ttySerialPortHelper;
-import com.example.removemarineanimals.viewmodels.MainViewModel;
+import com.example.fivewheel.databinding.ActivityMainBinding;
+import com.example.fivewheel.models.BspPV;
+import com.example.fivewheel.models.RobotRMACM;
+import com.example.fivewheel.services.ModbusCRC;
+import com.example.fivewheel.services.VideoPlayerHelper;
+import com.example.fivewheel.services.ttySerialPortHelper;
+import com.example.fivewheel.viewmodels.MainViewModel;
 
 import java.util.Timer;
 import java.util.TimerTask;
@@ -205,8 +205,8 @@ public class MainActivity extends AppCompatActivity {
         setupIntegerEditText(mainBinding.tvRobotAutoSpeed);
 
         // 小数输入框
-        setupDecimalEditText(mainBinding.tvRobotLeftCompensation);
-        setupDecimalEditText(mainBinding.tvRobotRightCompensation);
+//        setupDecimalEditText(mainBinding.tvRobotLeftCompensation);
+ //       setupDecimalEditText(mainBinding.tvRobotRightCompensation);
 
 
         // 保存数据
@@ -227,8 +227,8 @@ public class MainActivity extends AppCompatActivity {
         mainBinding.rFAngleRoll.setText(String.valueOf(0));
         mainBinding.tvRobotError.setText(String.valueOf(0));
         mainBinding.tvRobotChgLength.setText(Str_RobotChgLength);
-        mainBinding.tvRobotLeftCompensation.setText(Str_RobotLeftCompensation);
-        mainBinding.tvRobotRightCompensation.setText(Str_RobotRightCompensation);
+ //       mainBinding.tvRobotLeftCompensation.setText(Str_RobotLeftCompensation);
+ //       mainBinding.tvRobotRightCompensation.setText(Str_RobotRightCompensation);
         mainBinding.tvForce.setText(String.valueOf(0));
         mainBinding.tvRobotManualSpeed.setText(Str_RobotManualSpeed);
         mainBinding.tvRobotAutoSpeed.setText(Str_RobotAutoSpeed);
@@ -271,8 +271,6 @@ public class MainActivity extends AppCompatActivity {
 
                 _toSendPV = BspPV.PV_struct_define.newBuilder()
                         .setRobotChgLength(getSafeInt(mainBinding.tvRobotChgLength, 0))
-                        .setRobotLeftCompensation(getSafeDouble(mainBinding.tvRobotLeftCompensation, 0.0))
-                        .setRobotRightCompensation(getSafeDouble(mainBinding.tvRobotRightCompensation, 0.0))
                         .setRobotAutoSpeedBase(getSafeDouble(mainBinding.tvRobotAutoSpeed, 0.0))
                         .setRobotManualSpeedBase(getSafeDouble(mainBinding.tvRobotManualSpeed, 0.0))
                         .build();
@@ -378,8 +376,6 @@ public class MainActivity extends AppCompatActivity {
                 public void run() {
                     _toSendPV = BspPV.PV_struct_define.newBuilder()
                             .setRobotChgLength(Integer.parseInt(mainBinding.tvRobotChgLength.getText().toString()))
-                            .setRobotLeftCompensation(Double.parseDouble(mainBinding.tvRobotLeftCompensation.getText().toString()))
-                            .setRobotRightCompensation(Double.parseDouble(mainBinding.tvRobotRightCompensation.getText().toString()))
                             .setRobotAutoSpeedBase(Double.parseDouble(mainBinding.tvRobotAutoSpeed.getText().toString()))
                             .setRobotManualSpeedBase(Double.parseDouble(mainBinding.tvRobotManualSpeed.getText().toString()))
                             .build();

app/src/main/java/com/example/removemarineanimals/models/BspError.java → app/src/main/java/com/example/fivewheel/models/BspError.java

@@ -3,7 +3,7 @@
 // source: bsp_Error.proto
 // Protobuf Java Version: 4.27.2
 
-package com.example.removemarineanimals.models;
+package com.example.fivewheel.models;
 
 public final class BspError {
   private BspError() {}
@@ -171,7 +171,7 @@ public final class BspError {
     }
     public static final com.google.protobuf.Descriptors.EnumDescriptor
         getDescriptor() {
-      return com.example.removemarineanimals.models.BspError.getDescriptor().getEnumTypes().get(0);
+      return com.example.fivewheel.models.BspError.getDescriptor().getEnumTypes().get(0);
     }
 
     private static final ComError[] VALUES = values();
@@ -245,15 +245,15 @@ public final class BspError {
 
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+      return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_fieldAccessorTable
+      return com.example.fivewheel.models.BspError.internal_static_ErrorData_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              com.example.removemarineanimals.models.BspError.ErrorData.class, com.example.removemarineanimals.models.BspError.ErrorData.Builder.class);
+              com.example.fivewheel.models.BspError.ErrorData.class, com.example.fivewheel.models.BspError.ErrorData.Builder.class);
     }
 
     public static final int COM_ERROR_CODE_FIELD_NUMBER = 1;
@@ -343,10 +343,10 @@ public final class BspError {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof com.example.removemarineanimals.models.BspError.ErrorData)) {
+      if (!(obj instanceof com.example.fivewheel.models.BspError.ErrorData)) {
         return super.equals(obj);
       }
-      com.example.removemarineanimals.models.BspError.ErrorData other = (com.example.removemarineanimals.models.BspError.ErrorData) obj;
+      com.example.fivewheel.models.BspError.ErrorData other = (com.example.fivewheel.models.BspError.ErrorData) obj;
 
       if (getComErrorCode()
           != other.getComErrorCode()) return false;
@@ -376,44 +376,44 @@ public final class BspError {
       return hash;
     }
 
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(byte[] data)
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -421,26 +421,26 @@ public final class BspError {
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
 
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseDelimitedFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspError.ErrorData parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input);
     }
 
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseDelimitedFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspError.ErrorData parseFrom(
+    public static com.example.fivewheel.models.BspError.ErrorData parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -453,7 +453,7 @@ public final class BspError {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(com.example.removemarineanimals.models.BspError.ErrorData prototype) {
+    public static Builder newBuilder(com.example.fivewheel.models.BspError.ErrorData prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -474,18 +474,18 @@ public final class BspError {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessage.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:ErrorData)
-        com.example.removemarineanimals.models.BspError.ErrorDataOrBuilder {
+        com.example.fivewheel.models.BspError.ErrorDataOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+        return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_fieldAccessorTable
+        return com.example.fivewheel.models.BspError.internal_static_ErrorData_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                com.example.removemarineanimals.models.BspError.ErrorData.class, com.example.removemarineanimals.models.BspError.ErrorData.Builder.class);
+                com.example.fivewheel.models.BspError.ErrorData.class, com.example.fivewheel.models.BspError.ErrorData.Builder.class);
       }
 
       // Construct using com.example.removemarineanimals.models.BspError.ErrorData.newBuilder()
@@ -511,17 +511,17 @@ public final class BspError {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return com.example.removemarineanimals.models.BspError.internal_static_ErrorData_descriptor;
+        return com.example.fivewheel.models.BspError.internal_static_ErrorData_descriptor;
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspError.ErrorData getDefaultInstanceForType() {
-        return com.example.removemarineanimals.models.BspError.ErrorData.getDefaultInstance();
+      public com.example.fivewheel.models.BspError.ErrorData getDefaultInstanceForType() {
+        return com.example.fivewheel.models.BspError.ErrorData.getDefaultInstance();
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspError.ErrorData build() {
-        com.example.removemarineanimals.models.BspError.ErrorData result = buildPartial();
+      public com.example.fivewheel.models.BspError.ErrorData build() {
+        com.example.fivewheel.models.BspError.ErrorData result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -529,14 +529,14 @@ public final class BspError {
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspError.ErrorData buildPartial() {
-        com.example.removemarineanimals.models.BspError.ErrorData result = new com.example.removemarineanimals.models.BspError.ErrorData(this);
+      public com.example.fivewheel.models.BspError.ErrorData buildPartial() {
+        com.example.fivewheel.models.BspError.ErrorData result = new com.example.fivewheel.models.BspError.ErrorData(this);
         if (bitField0_ != 0) { buildPartial0(result); }
         onBuilt();
         return result;
       }
 
-      private void buildPartial0(com.example.removemarineanimals.models.BspError.ErrorData result) {
+      private void buildPartial0(com.example.fivewheel.models.BspError.ErrorData result) {
         int from_bitField0_ = bitField0_;
         if (((from_bitField0_ & 0x00000001) != 0)) {
           result.comErrorCode_ = comErrorCode_;
@@ -551,16 +551,16 @@ public final class BspError {
 
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof com.example.removemarineanimals.models.BspError.ErrorData) {
-          return mergeFrom((com.example.removemarineanimals.models.BspError.ErrorData)other);
+        if (other instanceof com.example.fivewheel.models.BspError.ErrorData) {
+          return mergeFrom((com.example.fivewheel.models.BspError.ErrorData)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(com.example.removemarineanimals.models.BspError.ErrorData other) {
-        if (other == com.example.removemarineanimals.models.BspError.ErrorData.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.example.fivewheel.models.BspError.ErrorData other) {
+        if (other == com.example.fivewheel.models.BspError.ErrorData.getDefaultInstance()) return this;
         if (other.getComErrorCode() != 0) {
           setComErrorCode(other.getComErrorCode());
         }
@@ -728,12 +728,12 @@ public final class BspError {
     }
 
     // @@protoc_insertion_point(class_scope:ErrorData)
-    private static final com.example.removemarineanimals.models.BspError.ErrorData DEFAULT_INSTANCE;
+    private static final com.example.fivewheel.models.BspError.ErrorData DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspError.ErrorData();
+      DEFAULT_INSTANCE = new com.example.fivewheel.models.BspError.ErrorData();
     }
 
-    public static com.example.removemarineanimals.models.BspError.ErrorData getDefaultInstance() {
+    public static com.example.fivewheel.models.BspError.ErrorData getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -769,7 +769,7 @@ public final class BspError {
     }
 
     @java.lang.Override
-    public com.example.removemarineanimals.models.BspError.ErrorData getDefaultInstanceForType() {
+    public com.example.fivewheel.models.BspError.ErrorData getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 

app/src/main/java/com/example/removemarineanimals/models/BspIV.java → app/src/main/java/com/example/fivewheel/models/BspIV.java

@@ -3,7 +3,7 @@
 // source: bsp_IV.proto
 // Protobuf Java Version: 4.27.2
 
-package com.example.removemarineanimals.models;
+package com.example.fivewheel.models;
 
 public final class BspIV {
   private BspIV() {}
@@ -104,6 +104,18 @@ public final class BspIV {
      * @return The robotErrorRight.
      */
     int getRobotErrorRight();
+
+    /**
+     * <code>int32 Robot_Compensation_Left = 13;</code>
+     * @return The robotCompensationLeft.
+     */
+    int getRobotCompensationLeft();
+
+    /**
+     * <code>int32 Robot_Compensation_Right = 14;</code>
+     * @return The robotCompensationRight.
+     */
+    int getRobotCompensationRight();
   }
   /**
    * Protobuf type {@code IV_struct_define}
@@ -131,15 +143,15 @@ public final class BspIV {
 
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+      return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
+      return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              com.example.removemarineanimals.models.BspIV.IV_struct_define.class, com.example.removemarineanimals.models.BspIV.IV_struct_define.Builder.class);
+              com.example.fivewheel.models.BspIV.IV_struct_define.class, com.example.fivewheel.models.BspIV.IV_struct_define.Builder.class);
     }
 
     public static final int ROBOT_MOVE_AUTOSPEED_FIELD_NUMBER = 1;
@@ -278,6 +290,28 @@ public final class BspIV {
       return robotErrorRight_;
     }
 
+    public static final int ROBOT_COMPENSATION_LEFT_FIELD_NUMBER = 13;
+    private int robotCompensationLeft_ = 0;
+    /**
+     * <code>int32 Robot_Compensation_Left = 13;</code>
+     * @return The robotCompensationLeft.
+     */
+    @java.lang.Override
+    public int getRobotCompensationLeft() {
+      return robotCompensationLeft_;
+    }
+
+    public static final int ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER = 14;
+    private int robotCompensationRight_ = 0;
+    /**
+     * <code>int32 Robot_Compensation_Right = 14;</code>
+     * @return The robotCompensationRight.
+     */
+    @java.lang.Override
+    public int getRobotCompensationRight() {
+      return robotCompensationRight_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -328,6 +362,12 @@ public final class BspIV {
       if (robotErrorRight_ != 0) {
         output.writeInt32(12, robotErrorRight_);
       }
+      if (robotCompensationLeft_ != 0) {
+        output.writeInt32(13, robotCompensationLeft_);
+      }
+      if (robotCompensationRight_ != 0) {
+        output.writeInt32(14, robotCompensationRight_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -385,6 +425,14 @@ public final class BspIV {
         size += com.google.protobuf.CodedOutputStream
           .computeInt32Size(12, robotErrorRight_);
       }
+      if (robotCompensationLeft_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(13, robotCompensationLeft_);
+      }
+      if (robotCompensationRight_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(14, robotCompensationRight_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -395,10 +443,10 @@ public final class BspIV {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof com.example.removemarineanimals.models.BspIV.IV_struct_define)) {
+      if (!(obj instanceof com.example.fivewheel.models.BspIV.IV_struct_define)) {
         return super.equals(obj);
       }
-      com.example.removemarineanimals.models.BspIV.IV_struct_define other = (com.example.removemarineanimals.models.BspIV.IV_struct_define) obj;
+      com.example.fivewheel.models.BspIV.IV_struct_define other = (com.example.fivewheel.models.BspIV.IV_struct_define) obj;
 
       if (getRobotMoveAutoSpeed()
           != other.getRobotMoveAutoSpeed()) return false;
@@ -424,6 +472,10 @@ public final class BspIV {
           != other.getRobotErrorLeft()) return false;
       if (getRobotErrorRight()
           != other.getRobotErrorRight()) return false;
+      if (getRobotCompensationLeft()
+          != other.getRobotCompensationLeft()) return false;
+      if (getRobotCompensationRight()
+          != other.getRobotCompensationRight()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -459,49 +511,53 @@ public final class BspIV {
       hash = (53 * hash) + getRobotErrorLeft();
       hash = (37 * hash) + ROBOT_ERROR_RIGHT_FIELD_NUMBER;
       hash = (53 * hash) + getRobotErrorRight();
+      hash = (37 * hash) + ROBOT_COMPENSATION_LEFT_FIELD_NUMBER;
+      hash = (53 * hash) + getRobotCompensationLeft();
+      hash = (37 * hash) + ROBOT_COMPENSATION_RIGHT_FIELD_NUMBER;
+      hash = (53 * hash) + getRobotCompensationRight();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(byte[] data)
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -509,26 +565,26 @@ public final class BspIV {
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
 
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseDelimitedFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input);
     }
 
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseDelimitedFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspIV.IV_struct_define parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -541,7 +597,7 @@ public final class BspIV {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(com.example.removemarineanimals.models.BspIV.IV_struct_define prototype) {
+    public static Builder newBuilder(com.example.fivewheel.models.BspIV.IV_struct_define prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -562,21 +618,21 @@ public final class BspIV {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessage.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:IV_struct_define)
-        com.example.removemarineanimals.models.BspIV.IV_struct_defineOrBuilder {
+        com.example.fivewheel.models.BspIV.IV_struct_defineOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+        return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
+        return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                com.example.removemarineanimals.models.BspIV.IV_struct_define.class, com.example.removemarineanimals.models.BspIV.IV_struct_define.Builder.class);
+                com.example.fivewheel.models.BspIV.IV_struct_define.class, com.example.fivewheel.models.BspIV.IV_struct_define.Builder.class);
       }
 
-      // Construct using com.example.removemarineanimals.models.BspIV.IV_struct_define.newBuilder()
+      // Construct using com.example.fivewheel.models.BspIV.IV_struct_define.newBuilder()
       private Builder() {
 
       }
@@ -602,23 +658,25 @@ public final class BspIV {
         robotCurrentRight_ = 0;
         robotErrorLeft_ = 0;
         robotErrorRight_ = 0;
+        robotCompensationLeft_ = 0;
+        robotCompensationRight_ = 0;
         return this;
       }
 
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return com.example.removemarineanimals.models.BspIV.internal_static_IV_struct_define_descriptor;
+        return com.example.fivewheel.models.BspIV.internal_static_IV_struct_define_descriptor;
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstanceForType() {
-        return com.example.removemarineanimals.models.BspIV.IV_struct_define.getDefaultInstance();
+      public com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+        return com.example.fivewheel.models.BspIV.IV_struct_define.getDefaultInstance();
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspIV.IV_struct_define build() {
-        com.example.removemarineanimals.models.BspIV.IV_struct_define result = buildPartial();
+      public com.example.fivewheel.models.BspIV.IV_struct_define build() {
+        com.example.fivewheel.models.BspIV.IV_struct_define result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -626,14 +684,14 @@ public final class BspIV {
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspIV.IV_struct_define buildPartial() {
-        com.example.removemarineanimals.models.BspIV.IV_struct_define result = new com.example.removemarineanimals.models.BspIV.IV_struct_define(this);
+      public com.example.fivewheel.models.BspIV.IV_struct_define buildPartial() {
+        com.example.fivewheel.models.BspIV.IV_struct_define result = new com.example.fivewheel.models.BspIV.IV_struct_define(this);
         if (bitField0_ != 0) { buildPartial0(result); }
         onBuilt();
         return result;
       }
 
-      private void buildPartial0(com.example.removemarineanimals.models.BspIV.IV_struct_define result) {
+      private void buildPartial0(com.example.fivewheel.models.BspIV.IV_struct_define result) {
         int from_bitField0_ = bitField0_;
         if (((from_bitField0_ & 0x00000001) != 0)) {
           result.robotMoveAutoSpeed_ = robotMoveAutoSpeed_;
@@ -671,20 +729,26 @@ public final class BspIV {
         if (((from_bitField0_ & 0x00000800) != 0)) {
           result.robotErrorRight_ = robotErrorRight_;
         }
+        if (((from_bitField0_ & 0x00001000) != 0)) {
+          result.robotCompensationLeft_ = robotCompensationLeft_;
+        }
+        if (((from_bitField0_ & 0x00002000) != 0)) {
+          result.robotCompensationRight_ = robotCompensationRight_;
+        }
       }
 
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof com.example.removemarineanimals.models.BspIV.IV_struct_define) {
-          return mergeFrom((com.example.removemarineanimals.models.BspIV.IV_struct_define)other);
+        if (other instanceof com.example.fivewheel.models.BspIV.IV_struct_define) {
+          return mergeFrom((com.example.fivewheel.models.BspIV.IV_struct_define)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(com.example.removemarineanimals.models.BspIV.IV_struct_define other) {
-        if (other == com.example.removemarineanimals.models.BspIV.IV_struct_define.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.example.fivewheel.models.BspIV.IV_struct_define other) {
+        if (other == com.example.fivewheel.models.BspIV.IV_struct_define.getDefaultInstance()) return this;
         if (other.getRobotMoveAutoSpeed() != 0) {
           setRobotMoveAutoSpeed(other.getRobotMoveAutoSpeed());
         }
@@ -721,6 +785,12 @@ public final class BspIV {
         if (other.getRobotErrorRight() != 0) {
           setRobotErrorRight(other.getRobotErrorRight());
         }
+        if (other.getRobotCompensationLeft() != 0) {
+          setRobotCompensationLeft(other.getRobotCompensationLeft());
+        }
+        if (other.getRobotCompensationRight() != 0) {
+          setRobotCompensationRight(other.getRobotCompensationRight());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -807,6 +877,16 @@ public final class BspIV {
                 bitField0_ |= 0x00000800;
                 break;
               } // case 96
+              case 104: {
+                robotCompensationLeft_ = input.readInt32();
+                bitField0_ |= 0x00001000;
+                break;
+              } // case 104
+              case 112: {
+                robotCompensationRight_ = input.readInt32();
+                bitField0_ |= 0x00002000;
+                break;
+              } // case 112
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -1220,16 +1300,80 @@ public final class BspIV {
         return this;
       }
 
+      private int robotCompensationLeft_ ;
+      /**
+       * <code>int32 Robot_Compensation_Left = 13;</code>
+       * @return The robotCompensationLeft.
+       */
+      @java.lang.Override
+      public int getRobotCompensationLeft() {
+        return robotCompensationLeft_;
+      }
+      /**
+       * <code>int32 Robot_Compensation_Left = 13;</code>
+       * @param value The robotCompensationLeft to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotCompensationLeft(int value) {
+
+        robotCompensationLeft_ = value;
+        bitField0_ |= 0x00001000;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 Robot_Compensation_Left = 13;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotCompensationLeft() {
+        bitField0_ = (bitField0_ & ~0x00001000);
+        robotCompensationLeft_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int robotCompensationRight_ ;
+      /**
+       * <code>int32 Robot_Compensation_Right = 14;</code>
+       * @return The robotCompensationRight.
+       */
+      @java.lang.Override
+      public int getRobotCompensationRight() {
+        return robotCompensationRight_;
+      }
+      /**
+       * <code>int32 Robot_Compensation_Right = 14;</code>
+       * @param value The robotCompensationRight to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotCompensationRight(int value) {
+
+        robotCompensationRight_ = value;
+        bitField0_ |= 0x00002000;
+        onChanged();
+        return this;
+      }
+      /**
+       * <code>int32 Robot_Compensation_Right = 14;</code>
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotCompensationRight() {
+        bitField0_ = (bitField0_ & ~0x00002000);
+        robotCompensationRight_ = 0;
+        onChanged();
+        return this;
+      }
+
       // @@protoc_insertion_point(builder_scope:IV_struct_define)
     }
 
     // @@protoc_insertion_point(class_scope:IV_struct_define)
-    private static final com.example.removemarineanimals.models.BspIV.IV_struct_define DEFAULT_INSTANCE;
+    private static final com.example.fivewheel.models.BspIV.IV_struct_define DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspIV.IV_struct_define();
+      DEFAULT_INSTANCE = new com.example.fivewheel.models.BspIV.IV_struct_define();
     }
 
-    public static com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstance() {
+    public static com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -1265,7 +1409,7 @@ public final class BspIV {
     }
 
     @java.lang.Override
-    public com.example.removemarineanimals.models.BspIV.IV_struct_define getDefaultInstanceForType() {
+    public com.example.fivewheel.models.BspIV.IV_struct_define getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -1285,7 +1429,7 @@ public final class BspIV {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\014bsp_IV.proto\"\341\002\n\020IV_struct_define\022\034\n\024R" +
+      "\n\014bsp_IV.proto\"\244\003\n\020IV_struct_define\022\034\n\024R" +
       "obot_Move_AutoSpeed\030\001 \001(\005\022\036\n\026Robot_Move_" +
       "ManualSpeed\030\002 \001(\005\022\035\n\025Robot_CurrentPositi" +
       "on\030\003 \001(\005\022\027\n\017Robot_AngleRoll\030\004 \001(\005\022\023\n\013Rob" +
@@ -1294,8 +1438,9 @@ public final class BspIV {
       "t_CurrentState\030\010 \001(\005\022\032\n\022Robot_Current_Le" +
       "ft\030\t \001(\005\022\033\n\023Robot_Current_Right\030\n \001(\005\022\030\n" +
       "\020Robot_Error_Left\030\013 \001(\005\022\031\n\021Robot_Error_R" +
-      "ight\030\014 \001(\005B*\n&com.example.removemarinean" +
-      "imals.modelsP\000b\006proto3"
+      "ight\030\014 \001(\005\022\037\n\027Robot_Compensation_Left\030\r " +
+      "\001(\005\022 \n\030Robot_Compensation_Right\030\016 \001(\005B \n" +
+      "\034com.example.fivewheel.modelsP\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -1306,7 +1451,7 @@ public final class BspIV {
     internal_static_IV_struct_define_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessage.FieldAccessorTable(
         internal_static_IV_struct_define_descriptor,
-        new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", });
+        new java.lang.String[] { "RobotMoveAutoSpeed", "RobotMoveManualSpeed", "RobotCurrentPosition", "RobotAngleRoll", "RobotError", "RobotDynamometerValue", "RobotForceValue", "RobotCurrentState", "RobotCurrentLeft", "RobotCurrentRight", "RobotErrorLeft", "RobotErrorRight", "RobotCompensationLeft", "RobotCompensationRight", });
     descriptor.resolveAllFeaturesImmutable();
   }
 

app/src/main/java/com/example/removemarineanimals/models/BspPV.java → app/src/main/java/com/example/fivewheel/models/BspPV.java

@@ -3,7 +3,7 @@
 // source: bsp_PV.proto
 // Protobuf Java Version: 4.27.2
 
-package com.example.removemarineanimals.models;
+package com.example.fivewheel.models;
 
 public final class BspPV {
   private BspPV() {}
@@ -85,15 +85,15 @@ public final class BspPV {
 
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+      return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+      return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              com.example.removemarineanimals.models.BspPV.PV_struct_define.class, com.example.removemarineanimals.models.BspPV.PV_struct_define.Builder.class);
+              com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
     }
 
     public static final int ROBOT_CHGLENGTH_FIELD_NUMBER = 1;
@@ -219,10 +219,10 @@ public final class BspPV {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof com.example.removemarineanimals.models.BspPV.PV_struct_define)) {
+      if (!(obj instanceof com.example.fivewheel.models.BspPV.PV_struct_define)) {
         return super.equals(obj);
       }
-      com.example.removemarineanimals.models.BspPV.PV_struct_define other = (com.example.removemarineanimals.models.BspPV.PV_struct_define) obj;
+      com.example.fivewheel.models.BspPV.PV_struct_define other = (com.example.fivewheel.models.BspPV.PV_struct_define) obj;
 
       if (getRobotChgLength()
           != other.getRobotChgLength()) return false;
@@ -268,44 +268,44 @@ public final class BspPV {
       return hash;
     }
 
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(byte[] data)
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -313,26 +313,26 @@ public final class BspPV {
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
 
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input);
     }
 
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseDelimitedFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessage
           .parseWithIOException(PARSER, input);
     }
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define parseFrom(
+    public static com.example.fivewheel.models.BspPV.PV_struct_define parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -345,7 +345,7 @@ public final class BspPV {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(com.example.removemarineanimals.models.BspPV.PV_struct_define prototype) {
+    public static Builder newBuilder(com.example.fivewheel.models.BspPV.PV_struct_define prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -366,18 +366,18 @@ public final class BspPV {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessage.Builder<Builder> implements
         // @@protoc_insertion_point(builder_implements:PV_struct_define)
-        com.example.removemarineanimals.models.BspPV.PV_struct_defineOrBuilder {
+        com.example.fivewheel.models.BspPV.PV_struct_defineOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+        return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessage.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
+        return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                com.example.removemarineanimals.models.BspPV.PV_struct_define.class, com.example.removemarineanimals.models.BspPV.PV_struct_define.Builder.class);
+                com.example.fivewheel.models.BspPV.PV_struct_define.class, com.example.fivewheel.models.BspPV.PV_struct_define.Builder.class);
       }
 
       // Construct using com.example.removemarineanimals.models.BspPV.PV_struct_define.newBuilder()
@@ -405,17 +405,17 @@ public final class BspPV {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return com.example.removemarineanimals.models.BspPV.internal_static_PV_struct_define_descriptor;
+        return com.example.fivewheel.models.BspPV.internal_static_PV_struct_define_descriptor;
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspPV.PV_struct_define getDefaultInstanceForType() {
-        return com.example.removemarineanimals.models.BspPV.PV_struct_define.getDefaultInstance();
+      public com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+        return com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance();
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspPV.PV_struct_define build() {
-        com.example.removemarineanimals.models.BspPV.PV_struct_define result = buildPartial();
+      public com.example.fivewheel.models.BspPV.PV_struct_define build() {
+        com.example.fivewheel.models.BspPV.PV_struct_define result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -423,14 +423,14 @@ public final class BspPV {
       }
 
       @java.lang.Override
-      public com.example.removemarineanimals.models.BspPV.PV_struct_define buildPartial() {
-        com.example.removemarineanimals.models.BspPV.PV_struct_define result = new com.example.removemarineanimals.models.BspPV.PV_struct_define(this);
+      public com.example.fivewheel.models.BspPV.PV_struct_define buildPartial() {
+        com.example.fivewheel.models.BspPV.PV_struct_define result = new com.example.fivewheel.models.BspPV.PV_struct_define(this);
         if (bitField0_ != 0) { buildPartial0(result); }
         onBuilt();
         return result;
       }
 
-      private void buildPartial0(com.example.removemarineanimals.models.BspPV.PV_struct_define result) {
+      private void buildPartial0(com.example.fivewheel.models.BspPV.PV_struct_define result) {
         int from_bitField0_ = bitField0_;
         if (((from_bitField0_ & 0x00000001) != 0)) {
           result.robotChgLength_ = robotChgLength_;
@@ -451,16 +451,16 @@ public final class BspPV {
 
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof com.example.removemarineanimals.models.BspPV.PV_struct_define) {
-          return mergeFrom((com.example.removemarineanimals.models.BspPV.PV_struct_define)other);
+        if (other instanceof com.example.fivewheel.models.BspPV.PV_struct_define) {
+          return mergeFrom((com.example.fivewheel.models.BspPV.PV_struct_define)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(com.example.removemarineanimals.models.BspPV.PV_struct_define other) {
-        if (other == com.example.removemarineanimals.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
+      public Builder mergeFrom(com.example.fivewheel.models.BspPV.PV_struct_define other) {
+        if (other == com.example.fivewheel.models.BspPV.PV_struct_define.getDefaultInstance()) return this;
         if (other.getRobotChgLength() != 0) {
           setRobotChgLength(other.getRobotChgLength());
         }
@@ -708,12 +708,12 @@ public final class BspPV {
     }
 
     // @@protoc_insertion_point(class_scope:PV_struct_define)
-    private static final com.example.removemarineanimals.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
+    private static final com.example.fivewheel.models.BspPV.PV_struct_define DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new com.example.removemarineanimals.models.BspPV.PV_struct_define();
+      DEFAULT_INSTANCE = new com.example.fivewheel.models.BspPV.PV_struct_define();
     }
 
-    public static com.example.removemarineanimals.models.BspPV.PV_struct_define getDefaultInstance() {
+    public static com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -749,7 +749,7 @@ public final class BspPV {
     }
 
     @java.lang.Override
-    public com.example.removemarineanimals.models.BspPV.PV_struct_define getDefaultInstanceForType() {
+    public com.example.fivewheel.models.BspPV.PV_struct_define getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 

app/src/main/java/com/example/removemarineanimals/models/RobotData.java → app/src/main/java/com/example/fivewheel/models/RobotData.java

@@ -3,7 +3,7 @@
 // source: robot_data.proto
 // Protobuf Java Version: 4.27.2
 
-package com.example.removemarineanimals.models;
+package com.example.fivewheel.models;
 
 public final class RobotData {
   private RobotData() {}

app/src/main/java/com/example/removemarineanimals/models/RobotRMACM.java → app/src/main/java/com/example/fivewheel/models/RobotRMACM.java

@@ -3,7 +3,7 @@
 // source: robot_RMACM.proto
 // Protobuf Java Version: 4.27.2
 
-package com.example.removemarineanimals.models;
+package com.example.fivewheel.models;
 
 public final class RobotRMACM {
   private RobotRMACM() {}

app/src/main/java/com/example/removemarineanimals/services/CustomProber.java → app/src/main/java/com/example/fivewheel/services/CustomProber.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 
 import com.hoho.android.usbserial.driver.FtdiSerialDriver;

app/src/main/java/com/example/removemarineanimals/services/DisplayUtils.java → app/src/main/java/com/example/fivewheel/services/DisplayUtils.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 import android.content.Context;
 import android.content.res.Resources;

app/src/main/java/com/example/removemarineanimals/services/ModbusCRC.java → app/src/main/java/com/example/fivewheel/services/ModbusCRC.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 public class ModbusCRC {
 

app/src/main/java/com/example/removemarineanimals/services/RobotDataHanlder.java → app/src/main/java/com/example/fivewheel/services/RobotDataHanlder.java

@@ -1,6 +1,6 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
-import com.example.removemarineanimals.models.RobotData;
+import com.example.fivewheel.models.RobotData;
 import com.google.protobuf.InvalidProtocolBufferException;
 
 public class RobotDataHanlder {

app/src/main/java/com/example/removemarineanimals/services/USBSerialPortHelper.java → app/src/main/java/com/example/fivewheel/services/USBSerialPortHelper.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 import android.app.PendingIntent;
 import android.content.BroadcastReceiver;
@@ -15,10 +15,10 @@ import android.os.Looper;
 
 import androidx.core.content.ContextCompat;
 
-import com.example.removemarineanimals.BuildConfig;
-import com.example.removemarineanimals.MainActivity;
-import com.example.removemarineanimals.models.RobotData;
-import com.example.removemarineanimals.viewmodels.MainViewModel;
+import com.example.fivewheel.BuildConfig;
+import com.example.fivewheel.MainActivity;
+import com.example.fivewheel.models.RobotData;
+import com.example.fivewheel.viewmodels.MainViewModel;
 import com.hoho.android.usbserial.driver.UsbSerialDriver;
 import com.hoho.android.usbserial.driver.UsbSerialPort;
 import com.hoho.android.usbserial.driver.UsbSerialProber;

app/src/main/java/com/example/removemarineanimals/services/VideoPlayerHelper.java → app/src/main/java/com/example/fivewheel/services/VideoPlayerHelper.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 import cn.nodemedia.NodePlayer;
 import cn.nodemedia.NodePlayerView;

app/src/main/java/com/example/removemarineanimals/services/ttySerialPortHelper.java → app/src/main/java/com/example/fivewheel/services/ttySerialPortHelper.java

@@ -1,15 +1,15 @@
-package com.example.removemarineanimals.services;
+package com.example.fivewheel.services;
 
 import android.util.Log;
 
-import com.example.removemarineanimals.models.BspIV;
+import com.example.fivewheel.models.BspIV;
 
 import android_serialport_api.SerialPortFinder;
 import tp.xmaihh.serialport.SerialHelper;
 import tp.xmaihh.serialport.bean.ComBean;
 
 public class ttySerialPortHelper {
-    public static com.example.removemarineanimals.MainActivity MainActivity;
+    public static com.example.fivewheel.MainActivity MainActivity;
     private static final String TAG = "ttySerialPortHelper";
     private static SerialHelper serialHelper;
     private static SerialPortFinder serialPortFinder;
@@ -82,9 +82,9 @@ public class ttySerialPortHelper {
                                             MainActivity.mainBinding.rFAngleRoll.setText(String.valueOf(_toReceiveIV.getRobotAngleRoll()/100.0));
                                             MainActivity.mainBinding.tvRobotError.setText(String.valueOf(_toReceiveIV.getRobotError()));
                                             MainActivity.mainBinding.tvDynamometer.setText(String.valueOf(_toReceiveIV.getRobotDynamometerValue()/100.0));
+                                            MainActivity.mainBinding.tvRobotRightCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationRight()/100.0));
+                                            MainActivity.mainBinding.tvRobotLeftCompensation.setText(String.valueOf(_toReceiveIV.getRobotCompensationLeft()/100.0));
                                             MainActivity.mainBinding.tvForce.setText(String.valueOf(_toReceiveIV.getRobotForceValue()));
-//                                          MainActivity.mainBinding.tvRobotAutoSpeed.setText(String.valueOf(_toReceiveIV.getRobotMoveAutoSpeed()));
-                                           // MainActivity.mainBinding.tvRobotManualSpeed.setText(String.valueOf(_toReceiveIV.getRobotMoveManualSpeed()));
                                             MainActivity.mainBinding.tvRobotCurrent.setText("L"+String.valueOf(_toReceiveIV.getRobotCurrentLeft()/1000)
                                             + "R"+String.valueOf(_toReceiveIV.getRobotCurrentLeft()/1000));
 

app/src/main/java/com/example/removemarineanimals/viewmodels/MainViewModel.java → app/src/main/java/com/example/fivewheel/viewmodels/MainViewModel.java

@@ -1,27 +1,17 @@
-package com.example.removemarineanimals.viewmodels;
+package com.example.fivewheel.viewmodels;
 
 
 
-import android.view.View;
 import android.widget.SeekBar;
 
-import androidx.annotation.MainThread;
-import androidx.lifecycle.LiveData;
-import androidx.lifecycle.MutableLiveData;
 import androidx.lifecycle.ViewModel;
 
-import com.example.removemarineanimals.R;
-import com.example.removemarineanimals.databinding.ActivityMainBinding;
+import com.example.fivewheel.R;
+import com.example.fivewheel.databinding.ActivityMainBinding;
 //import com.example.removemarineanimals.models.user;
 //import com.example.removemarineanimals.services.RobotData;
-import com.example.removemarineanimals.services.RobotDataHanlder;
 //import com.example.removemarineanimals.services.VideoHelper;
 
-import java.io.UnsupportedEncodingException;
-import java.text.SimpleDateFormat;
-import java.util.Date;
-
-import cn.nodemedia.NodePlayer;
 
 public class MainViewModel extends ViewModel {
 

app/src/main/java/generate_java.bat

@@ -1,4 +1,4 @@
-cd /d D:\Android_studio_workspace\RemoveMarineAnimals\app\src\main\java
+cd /d F:\BHBF\cubeide\swj\FiveWheelAPP\app\src\main\java
 protoc --proto_path=. --java_out=. bsp_IV.proto
 pause
 

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

@@ -9,7 +9,7 @@
     <data>
         <variable
             name="vm"
-            type="com.example.removemarineanimals.viewmodels.MainViewModel" />
+            type="com.example.fivewheel.viewmodels.MainViewModel" />
     </data>
 
     <LinearLayout
@@ -299,7 +299,7 @@
                                 android:textColor="@color/white"
                                 android:textSize="12dp" />
 
-                            <EditText
+                            <TextView
                                 android:id="@+id/tvRobotLeftCompensation"
                                 android:layout_width="51dp"
                                 android:layout_height="wrap_content"
@@ -329,7 +329,7 @@
                                 android:textColor="@color/white"
                                 android:textSize="12dp" />
 
-                            <EditText
+                            <TextView
                                 android:id="@+id/tvRobotRightCompensation"
                                 android:layout_width="51dp"
                                 android:layout_height="wrap_content"

app/src/test/java/com/example/removemarineanimals/ExampleUnitTest.java → app/src/test/java/com/example/fivewheel/ExampleUnitTest.java

@@ -1,4 +1,4 @@
-package com.example.removemarineanimals;
+package com.example.fivewheel;
 
 import org.junit.Test;
 

settings.gradle

@@ -16,5 +16,5 @@ dependencyResolutionManagement {
     }
 }
 
-rootProject.name = "RemoveMarineAnimals"
+rootProject.name = "FiveWheelAPP"
 include ':app'