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android之蓝牙控制小四轴飞行器

标签: android蓝牙小四轴
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         本app基于匿名开源小四轴app( http://www.anotc.com/Product/Overview/8 )改编。匿名小四轴接上串口蓝牙模块后,可直接使用本app控制。其它飞控修改通信协议后方可使用。本app改编后可用于控制蓝牙智能小车,感兴趣的小伙伴可以试试看。使用飞行器测试时,请千万注意安全。


        蓝牙连接界面,需打开手机蓝牙才可进行下一步操作。上面文本框显示当前蓝牙连接状况;中间大图是我们的logo;左下蓝牙图标,单击可选择要连接的串口蓝牙设备;右下六边形图标,单击可跳转至下图飞行器控制界面。

        中上三个全表盘飞机图标,动画实时显示飞行器当前横滚角、航向角和俯仰角;中间半表盘指针图标,显示飞行器当前油门值;中下图标,单击可解锁飞控,再次单击可锁定飞控,如此反复;两侧文本框,实时显示飞控的加速度计和陀螺仪数值;左侧箭头图标,上下为油门加、减,左右控制横滚角;右侧箭头图标,上下控制俯仰角,左右控制航向角。

控制部分源码:

package com.example.seuxiaosi;
 
import java.util.Timer;
import java.util.TimerTask;
import android.app.Activity;
import android.content.pm.ActivityInfo;
import android.graphics.Bitmap;
import android.graphics.Matrix;
import android.graphics.Paint;
importandroid.graphics.drawable.BitmapDrawable;
import android.os.Bundle;
import android.os.Handler;
import android.util.DisplayMetrics;
import android.view.MotionEvent;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.View.OnTouchListener;
import android.view.WindowManager;
import android.widget.Button;
import android.widget.ImageButton;
import android.widget.ImageView;
import android.widget.TextView;
import android.annotation.SuppressLint;
 
 
 
public class MyControl extends Activity {
      
      
       //用于图像旋转的变量
       privateImageView mImageView_yaw;
       privateImageView mImageView_rol;
       privateImageView mImageView_pit;
       privateImageView mImageView_thr;
 
       privateMatrix mMatrix = new Matrix();
       privatefloat mAngle_thr = 0;
       BitmapmBitmap;
       Paintpaint = new Paint();
      
       privateint thrTF = 0;//
      
       //自定义按键监听事件类
       mImageListentermImageButtonListener = new mImageListenter();
      
       //设置油门, yaw,pit,rol的初始值
       privateint VAL_THR = 1000;
       privateint VAL_YAW = 1500, VAL_ROL = 1500, VAL_PIT = 1500;
      
       //数据显示
       TextView       acc_x_show , acc_y_show , acc_z_show ,
                            gyr_x_show , gyr_y_show , gyr_z_show ;
 
      
       //图片按钮变量
       privateImageButton image;
      
       //飞控解锁  LOCK=0——锁定,LOCK=1——解锁
       privateint LOCK = 0;
      
       //时间管理器
       Timersend_timer = new Timer();
      
       privatefinal Handler myHandler = new Handler();
       //handler可以分发Message对象和Runnable对象到主线程中
       //handler中的执行时间过长会出错!!!!!!!!!!
      
       privatefinal Runnable myRunable = new Runnable() {
             
              @Override
              publicvoid run() {
                     //TODO Auto-generated method stub
                      //0.1秒后调用此Runnable对象,用于控制数据的更新
                     myHandler.postDelayed(this,100);
                    
                    
                     //控制界面数据的更新              
                     acc_x_show.setText("X:" + MainActivity.VAL_ACC_X);                  
                     acc_y_show.setText("Y:" + MainActivity.VAL_ACC_Y);
                     acc_z_show.setText("Z:" + MainActivity.VAL_ACC_Z);                  
                    
                     gyr_x_show.setText("X:" + MainActivity.VAL_GYR_X);                   
                     gyr_y_show.setText("Y:" + MainActivity.VAL_GYR_Y);                   
                     gyr_z_show.setText("Z:" + MainActivity.VAL_GYR_Z);
 
                     mRotate_yaw();//旋转图像
                     mRotate_pit();
                     mRotate_rol();
                     if(LOCK== 1){
                           
                     if(thrTF== 1)
                            VAL_THR+= 2;
                     elseif(thrTF == 2)
                            VAL_THR-= 2;
                     mRotate_thr_up();
             
                     }            
              }
       };
      
      
       @Override
       protectedvoid onCreate(Bundle savedInstanceState) {
             
              super.onCreate(savedInstanceState);
              //横屏模式
              setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
                           
              //保持屏幕长亮
              getWindow().setFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON,WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
              setContentView(R.layout.activity_my_control);
             
              ImageButtonmImageButton;
             
               acc_x_show = (TextView)findViewById(R.id.acc_x);
               acc_y_show = (TextView)findViewById(R.id.acc_y);
               acc_z_show = (TextView)findViewById(R.id.acc_z);
               
               
               gyr_x_show = (TextView)findViewById(R.id.gyr_x);
               gyr_y_show = (TextView)findViewById(R.id.gyr_y);
               gyr_z_show = (TextView)findViewById(R.id.gyr_z);
      
               
               
              //用于旋转图像
            mImageView_yaw = (ImageView)findViewById(R.id.yaw_image);
            mImageView_rol = (ImageView)findViewById(R.id.rol_image);
            mImageView_pit = (ImageView)findViewById(R.id.pit_image);
            mImageView_thr = (ImageView)findViewById(R.id.thr_image);
 
             
            DisplayMetrics dm =new DisplayMetrics();
            getWindowManager().getDefaultDisplay().getMetrics(dm);
             
              //按钮监听器
              mImageButton= (ImageButton) findViewById(R.id.thr_up);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.thr_down);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.rol_you);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.rol_zuo);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.pit_qian);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.pit_hou);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.yaw_zuo);
              mImageButton.setOnTouchListener(mImageButtonListener);
             
              mImageButton= (ImageButton) findViewById(R.id.yaw_you);
              mImageButton.setOnTouchListener(mImageButtonListener);
                           
              mImageButton= (ImageButton) findViewById(R.id.suo);
              mImageButton.setOnClickListener(newView.OnClickListener(){
                    
                     @Override
                     publicvoid onClick(View v) {
                            //TODO Auto-generated method stub
                            image= (ImageButton) findViewById(R.id.suo);
                           
                            if(LOCK== 0){
                                   LOCK= 1;//解锁状态置1
                                  
                                   //发送解锁命令                  
                                   MainActivity.Send_Command((byte)0xa1);
                                   image.setImageResource(R.drawable.jie);                              
                            }
                            else{
                                   //发送锁定命令                  
                                   MainActivity.Send_Command((byte)0xa0);
                                   image.setImageResource(R.drawable.suo);
                                   VAL_THR= 1000;//油门置0
                                   mRotate_thr_up();                                                                                            
                                   LOCK= 0;//解锁状态置0   
                            }
                     }
              });
             
             
           //延迟1秒后执行任务send_task,然后经过0.05秒再次执行send_task,用于循环任务
              send_timer.schedule(send_task,1000,50);
 
              //每0.1秒执行一次runnable
              myHandler.postDelayed(myRunable,100);
             
       }
      
       classmImageListenter implements OnTouchListener{
 
              @Override
              publicboolean onTouch(View v, MotionEvent event) {
                     //TODO Auto-generated method stub
                                         
                     if(LOCK== 1){
                    
                     //yaw按钮
                     if(v.getId()== R.id.yaw_zuo){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_YAW= 1200;                                                                                                       
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_YAW= 1500;
                            if(event.getAction()== MotionEvent.ACTION_UP)
                                   VAL_YAW= 1500;
                     }
                    
                     if(v.getId()== R.id.yaw_you){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_YAW= 1800;
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_YAW= 1500;
                            if(event.getAction()== MotionEvent.ACTION_UP)
                                   VAL_YAW= 1500;                     
                     }
                    
                     //pit按钮
                     if(v.getId()== R.id.pit_qian){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_PIT= 1650;
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_PIT= 1500;
                            if(event.getAction() ==MotionEvent.ACTION_UP)
                                   VAL_PIT= 1500;
                     }
                    
                     if(v.getId()== R.id.pit_hou){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_PIT= 1350;
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_PIT= 1500;
                            if(event.getAction()== MotionEvent.ACTION_UP)
                                   VAL_PIT= 1500;   
                     }            
                    
                     //rol按钮
                     if(v.getId()== R.id.rol_zuo){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_ROL= 1200;                             
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_ROL= 1500;
                            if(event.getAction()== MotionEvent.ACTION_UP)
                                   VAL_ROL= 1500; 
                     }
                    
                     if(v.getId()== R.id.rol_you){
                            if(event.getAction()== MotionEvent.ACTION_DOWN)
                                   VAL_ROL= 1800;
                            if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                   VAL_ROL= 1500;
                            if(event.getAction()== MotionEvent.ACTION_UP)
                                   VAL_ROL= 1500;                      
                     }
                    
                    
                     //油门
                     if(v.getId()== R.id.thr_up){
                            if(VAL_THR >= 2000)
                                          {VAL_THR= 2000;}//执行空语句                     
                            else{
                                   if(event.getAction()== MotionEvent.ACTION_DOWN)
                                          thrTF= 1;
                                   //{VAL_THR+= 15;       mRotate_thr_up();}
                                   if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                          thrTF= 0;
                                   if(event.getAction()== MotionEvent.ACTION_UP)
                                          thrTF= 0;
                            }
                           
                     }
                    
                     if(v.getId()== R.id.thr_down){
                            if(VAL_THR<= 1000)
                                   {VAL_THR= 1000;}
                           
                            else{
                                   if(event.getAction()== MotionEvent.ACTION_DOWN)
                                          thrTF= 2;
                                   if(event.getAction()== MotionEvent.ACTION_CANCEL)
                                          thrTF= 0;
                                   if(event.getAction() ==MotionEvent.ACTION_UP)
                                          thrTF= 0;
                                   }
                     }
                     }
                     returnfalse;
              }
       }
      
 
       TimerTasksend_task = new TimerTask(){
           //Timer是一种线程设施,用于安排以后在后台线程中执行的任务。
           //可安排任务执行一次,或者定期重复执行,可以看成一个定时器,可以调度TimerTask。
           //TimerTask是一个抽象类,实现了Runnable接口,所以具备了多线程的能力。
           byte[] bytes = new byte[25];
           public void run ()
           {         
                 
                  byte sum=0;
                 
                  bytes[0] = (byte) 0xaa;
                  bytes[1] = (byte) 0xaf;
                  bytes[2] = (byte) 0x03;
                  bytes[3] = (byte) 20;
                  bytes[4] = (byte)(VAL_THR/0xff);//取商  油门
                  bytes[5] = (byte)(VAL_THR%0xff);//取余数
                  bytes[6] = (byte)(VAL_YAW/0xff);//航向
                  bytes[7] = (byte) (VAL_YAW%0xff);
                  bytes[8] = (byte)(VAL_ROL/0xff);//横滚
                  bytes[9] = (byte) (VAL_ROL%0xff);
                  bytes[10] = (byte)(VAL_PIT/0xff);//俯仰
                  bytes[11] = (byte) (VAL_PIT%0xff);
                  bytes[12] = 1;
                  bytes[13] = 2;
                  bytes[14] = 3;
                  bytes[15] = 4;
                  bytes[16] = 0;
                  bytes[17] = 0;
                  bytes[18] = 0;
                  bytes[19] = 0;
                  bytes[20] = 0;
                  bytes[21] = 0;
                  bytes[22] = 0;
                  bytes[23] = 0;
                  for(int i=0;i<24;i++) sum +=bytes[i];
                  bytes[24] = sum;
                 
                  MainActivity.SendData_Byte(bytes);//发送数据
           }
           };
          
   protected void onDestroy(){
              if(send_timer != null) //注销定时器
              {
                     send_timer.cancel();
                     send_timer= null;
              }
              super.onDestroy();
              }
   
   
   //自定义图像旋转函数
   private void mRotate_yaw(){
                     
           mBitmap = ((BitmapDrawable)(getResources().getDrawable(R.drawable.yaw2))).getBitmap();                        
              mMatrix.setRotate(MainActivity.VAL_ANG_Z,mBitmap.getWidth() / 2, mBitmap.getHeight() / 2);//旋转角度设置
              paint= new Paint();
              //设置抗锯齿,防止过多的失真
              paint.setAntiAlias(true);
              mBitmap= Bitmap.createBitmap(mBitmap, 0, 0, mBitmap.getWidth(), mBitmap.getHeight(),mMatrix, true);        
              mImageView_yaw.setImageBitmap(mBitmap);
             
    }
          
   
   private void mRotate_rol(){
 
           mBitmap =((BitmapDrawable)(getResources().getDrawable(R.drawable.rol2))).getBitmap();                          
              mMatrix.setRotate(MainActivity.VAL_ANG_X, mBitmap.getWidth() / 2, mBitmap.getHeight() / 2);//旋转角度设置
              paint= new Paint();
              //设置抗锯齿,防止过多的失真
              paint.setAntiAlias(true);
              mBitmap= Bitmap.createBitmap(mBitmap, 0, 0, mBitmap.getWidth(), mBitmap.getHeight(),mMatrix, true);        
              mImageView_rol.setImageBitmap(mBitmap);
             
    }
   
   
   private void mRotate_pit(){
             
              mBitmap= ((BitmapDrawable)(getResources().getDrawable(R.drawable.pit2))).getBitmap();                          
              mMatrix.setRotate(-MainActivity.VAL_ANG_Y,mBitmap.getWidth() / 2, mBitmap.getHeight() / 2);//旋转角度设置
              paint= new Paint();
              //设置抗锯齿,防止过多的失真
              paint.setAntiAlias(true);
              mBitmap= Bitmap.createBitmap(mBitmap, 0, 0, mBitmap.getWidth(), mBitmap.getHeight(),mMatrix, true);        
              mImageView_pit.setImageBitmap(mBitmap);
             
    }
   
   private void mRotate_thr_up(){
              if(LOCK== 1){
              mBitmap= ((BitmapDrawable)(getResources().getDrawable(R.drawable.zhen))).getBitmap();                         
           mAngle_thr = (float)(VAL_THR-1000)*180/1000;
              mMatrix.setRotate(mAngle_thr,mBitmap.getWidth() / 2, mBitmap.getHeight() / 2);//旋转角度设置
              paint= new Paint();
              //设置抗锯齿,防止过多的失真
              paint.setAntiAlias(true);
              mBitmap= Bitmap.createBitmap(mBitmap, 0, 0, mBitmap.getWidth(), mBitmap.getHeight(),mMatrix, true);        
              mImageView_thr.setImageBitmap(mBitmap);
              }
    }
          
} 

eclipse工程源码下载地址:

http://download.csdn.net/detail/qq_21478795/9538237

      

 

 

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