同意

同意

CMakeLists.txt

@@ -123,12 +123,12 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
 set(SOURCES
     src/include/qnode.hpp
-
+    src/include/joystick.h
 
     src/main/main.cpp
     src/main/mainwindow.cpp
     src/main/qnode.cpp
-
+    src/main/joystick.cpp
 
     src/ui/mainwindow.hpp
     src/ui/mainwindow.ui

src/main/mainwindow.cpp

@@ -168,6 +168,15 @@ void MainWindow::slot_rockKeyChange(int key){
 }
 
 void MainWindow::connections(){
+    QObject::connect(ui->btn_main, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(0);
+    });
+    QObject::connect(ui->btn_uav, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(1);
+    });
+    QObject::connect(ui->btn_ugv, &QPushButton::clicked, this, [=](){
+        ui->stackedWidget_main->setCurrentIndex(2);
+    });
     /*
      * 绑定速度控制按钮
      */

src/main/qnode.cpp

@@ -33,9 +33,9 @@ void QNode::SubAndPubTopic(){
 void QNode::KeyboardMove(char key, float speed_linear, float speed_trun){
     std::map<char, std::vector<float>> moveBindings {
         // {'key', {x, y, z, th}}
-        {'7', {1, 1, 0, 0}},  {'8', {1, 0, 0, 0}},  {'9', {1, -1, 0, 0}},
+        {'7', {1, 1, 0, 1}},  {'8', {1, 0, 0, 0}},  {'9', {1, -1, 0, -1}},
         {'4', {0, 0, 0, 1}}, {'5', {0, 0, 0, 0}},   {'6', {0, 0, 0, -1}},
-        {'1', {-1, 1, 0, 0}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, 0}}
+        {'1', {-1, 1, 0, 1}}, {'2', {-1, 0, 0, 0}}, {'3', {-1, -1, 0, -1}}
     };
 
     float x = moveBindings[key][0];