Dev/better UI#113
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# Conflicts: # scorpius_gui/src/gui_window.cpp
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Pull request overview
This PR updates the teleop + message layer to support additional UI-driven state (tail angle + per-side “height” scaling), and reworks the GUI to present a consolidated “Dashboard” view with improved labels/formatting. It also includes firmware-side serial/loop adjustments to match the new control conventions.
Changes:
- Extend
ServoAngleswithtail_angle, publish it from teleop, and display it in the GUI debug widget manager. - Rework GUI tabs to a
Dashboard / Controller / Seriallayout and update UI text/formatting. - Adjust microcontroller loop/serial handling (including a vertical-angle sign transform during command decode).
Reviewed changes
Copilot reviewed 12 out of 12 changed files in this pull request and generated 5 comments.
Show a summary per file
| File | Description |
|---|---|
scorpius_teleop/scorpius_teleop/teleop_node.py |
Adds tail + height control logic, changes movement constants/rates, publishes tail_angle. |
scorpius_teleop/scorpius_teleop/HexapodAngles.py |
Updates ServoAngles message population helper signature. |
scorpius_micro/src/main.cpp |
Calls updatePosition() immediately after processing a COMMAND. |
scorpius_micro/src/comm.cpp |
Changes how vertical angles are decoded from COMMAND packets (now negated). |
scorpius_micro/include/comm.h |
Minor header tweak/commented alternate init signature. |
scorpius_main/msg/ServoAngles.msg |
Adds float32 tail_angle. |
scorpius_gui/ui/DebugWidget.ui |
Updates label text (“Patte” → “Paw”, simplified axis labels). |
scorpius_gui/src/gui_window.hpp |
Updates tab enum ordering/removes debug tab members. |
scorpius_gui/src/gui_window.cpp |
Removes Debug tab, adds Dashboard tab behavior and background styling updates. |
scorpius_gui/src/debug_widget/debug_widget_manager.hpp |
Adds tail signal/slot and tail label member. |
scorpius_gui/src/debug_widget/debug_widget_manager.cpp |
Displays tail angle, adjusts step formatting/layout. |
scorpius_gui/src/debug_widget/debug_widget.cpp |
Updates displayed strings and degree formatting. |
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Charles-robot
requested changes
Apr 16, 2026
# Conflicts: # scorpius_teleop/scorpius_teleop/teleop_node.py
Charles-robot
approved these changes
Apr 16, 2026
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