feat: Ported robotic arm

lib/communication/science_lab.dart

@@ -413,4 +413,44 @@ class ScienceLab {
       logger.e(e);
     }
   }
+
+  Future<void> servo4(
+      double angle1, double angle2, double angle3, double angle4) async {
+    const int period = 10000;
+    const int base = 750;
+    const int range = 1900;
+    const int params = (1 << 5) | 2;
+
+    try {
+      mPacketHandler.sendByte(mCommandsProto.wavegen);
+
+      mPacketHandler.sendByte(mCommandsProto.sqr4);
+
+      mPacketHandler.sendInt(period);
+
+      int pulse1 = base + (angle1 * range ~/ 180);
+      mPacketHandler.sendInt(pulse1);
+
+      mPacketHandler.sendInt(0);
+
+      int pulse2 = base + (angle2 * range ~/ 180);
+      mPacketHandler.sendInt(pulse2);
+
+      mPacketHandler.sendInt(0);
+
+      int pulse3 = base + (angle3 * range ~/ 180);
+      mPacketHandler.sendInt(pulse3);
+
+      mPacketHandler.sendInt(0);
+
+      int pulse4 = base + (angle4 * range ~/ 180);
+      mPacketHandler.sendInt(pulse4);
+
+      mPacketHandler.sendByte(params);
+
+      await mPacketHandler.getAcknowledgement();
+    } catch (e) {
+      logger.e("Error in servo4(): $e");
+    }
+  }
 }

lib/constants.dart

@@ -208,6 +208,28 @@ String maxValue = 'Max: ';
 String gyroscopeTitle = "Gyroscope";
 String gyroscopeAxisLabel = 'rad/s';
 String noData = 'No data available';
+String degreeSymbol = '°';
+String enterAngleRange = 'Enter angle (0 - 360)';
+String errorCannotBeEmpty = 'Cannot be empty';
+String servoValidNumberRange = 'Please enter a valid number between 0 and 360';
+String ok = 'Ok';
+String roboticArm = 'Robotic Arm';
+String play = 'Play';
+String pause = 'Pause';
+String stop = 'Stop';
+String controls = 'Controls';
+String saveData = 'Save Data';
+String showGuide = 'Show Guide';
+String showLoggedDataKey = 'show_logged_data';
+String showLoggedData = 'Show Logged Data';
+String setAngle = 'Set angle for Servo';
+String angleDialog = 'AngleDialog';
+List<String> servoLabels = [
+  'Servo 1',
+  'Servo 2',
+  'Servo 3',
+  'Servo 4',
+];
 String xyPlot = 'XY Plot';
 String enablePlot = 'Enable XY Plot';
 String trigger = 'Trigger';

lib/main.dart

@@ -9,6 +9,7 @@ import 'package:pslab/view/gyroscope_screen.dart';
 import 'package:pslab/view/instruments_screen.dart';
 import 'package:pslab/view/luxmeter_screen.dart';
 import 'package:pslab/view/oscilloscope_screen.dart';
+import 'package:pslab/view/robotic_arm_screen.dart';
 import 'package:pslab/view/settings_screen.dart';
 import 'package:pslab/view/about_us_screen.dart';
 import 'package:pslab/view/software_licenses_screen.dart';
@@ -54,6 +55,7 @@ class MyApp extends StatelessWidget {
         '/softwareLicenses': (context) => const SoftwareLicensesScreen(),
         '/accelerometer': (context) => const AccelerometerScreen(),
         '/gyroscope': (context) => const GyroscopeScreen(),
+        '/roboticArm': (context) => const RoboticArmScreen(),
         '/luxmeter': (context) => const LuxMeterScreen(),
         '/soundmeter': (context) => const SoundMeterScreen(),
       },

lib/providers/robotic_arm_state_provider.dart

@@ -0,0 +1,127 @@
+import 'dart:async';
+import 'package:flutter/material.dart';
+import 'package:flutter/services.dart';
+import 'package:pslab/communication/science_lab.dart';
+import 'package:pslab/others/logger_service.dart';
+import '../others/science_lab_common.dart';
+
+class RoboticArmStateProvider extends ChangeNotifier {
+  final List<double> servoValues = [0, 0, 0, 0];
+  final int totalTimelineItems = 60;
+  final double scrollAmountPerTick = 120;
+  final List<List<double>> timelineDegrees =
+      List.generate(60, (_) => List.filled(4, 0));
+  int timelinePosition = 0;
+  bool isPlaying = false;
+
+  late ScienceLab scienceLab;
+  Timer? _debounceTimer;
+  Timer? _timelineTimer;
+  final ScrollController timelineScrollController = ScrollController();
+
+  Future<void> initialize() async {
+    SystemChrome.setEnabledSystemUIMode(SystemUiMode.immersiveSticky);
+    SystemChrome.setPreferredOrientations([
+      DeviceOrientation.landscapeLeft,
+      DeviceOrientation.landscapeRight,
+    ]);
+    scienceLab =
+        ScienceLabCommon(ScienceLabCommon.communicationHandler).getScienceLab();
+    await scienceLab.connect();
+  }
+
+  void disposeResources() {
+    _timelineTimer?.cancel();
+    _debounceTimer?.cancel();
+    timelineScrollController.dispose();
+    SystemChrome.setPreferredOrientations([
+      DeviceOrientation.portraitUp,
+      DeviceOrientation.portraitDown,
+    ]);
+  }
+
+  void updateServoValue(int index, double value) {
+    servoValues[index] = value;
+    notifyListeners();
+    _sendAllServoCommands();
+  }
+
+  void updateTimelineDegree(int timeIndex, int servoIndex, double value) {
+    timelineDegrees[timeIndex][servoIndex] = value;
+    notifyListeners();
+  }
+
+  void _sendAllServoCommands() {
+    _debounceTimer?.cancel();
+    _debounceTimer = Timer(const Duration(milliseconds: 200), () async {
+      try {
+        await scienceLab.servo4(
+          servoValues[0],
+          servoValues[1],
+          servoValues[2],
+          servoValues[3],
+        );
+      } catch (e) {
+        logger.e(e);
+      }
+    });
+  }
+
+  void togglePlayPause() {
+    if (isPlaying) {
+      _timelineTimer?.cancel();
+      isPlaying = false;
+      notifyListeners();
+    } else {
+      _timelineTimer =
+          Timer.periodic(const Duration(seconds: 1), (timer) async {
+        if (timelinePosition >= totalTimelineItems) {
+          stopScrolling(resetPosition: false);
+          return;
+        }
+
+        timelineScrollController.animateTo(
+          timelineScrollController.offset + scrollAmountPerTick,
+          duration: const Duration(milliseconds: 50),
+          curve: Curves.easeInOut,
+        );
+
+        final angles = timelineDegrees[timelinePosition];
+
+        if (scienceLab.isConnected()) {
+          try {
+            await scienceLab.servo4(
+              angles[0],
+              angles[1],
+              angles[2],
+              angles[3],
+            );
+          } catch (e) {
+            logger.e(e);
+          }
+        }
+
+        timelinePosition++;
+        notifyListeners();
+      });
+
+      isPlaying = true;
+      notifyListeners();
+    }
+  }
+
+  void stopScrolling({bool resetPosition = true}) {
+    _timelineTimer?.cancel();
+    isPlaying = false;
+    timelinePosition = 0;
+    notifyListeners();
+
+    if (resetPosition) {
+      timelineScrollController.animateTo(
+        0,
+        duration: const Duration(milliseconds: 50),
+        curve: Curves.easeOut,
+      );
+    }
+  }
+}

lib/view/instruments_screen.dart

@@ -63,6 +63,18 @@ class _InstrumentsScreenState extends State<InstrumentsScreen> {
           );
         }
         break;
+      case 12:
+        if (Navigator.canPop(context) &&
+            ModalRoute.of(context)?.settings.name == '/roboticArm') {
+          Navigator.popUntil(context, ModalRoute.withName('/roboticArm'));
+        } else {
+          Navigator.pushNamedAndRemoveUntil(
+            context,
+            '/roboticArm',
+            (route) => route.isFirst,
+          );
+        }
+        break;
       case 15:
         if (Navigator.canPop(context) &&
             ModalRoute.of(context)?.settings.name == '/soundmeter') {