基于wifi的小車重力控制代碼

1、話說上次已經(jīng)實現(xiàn)用Android(安卓)手機對智能小車機器人進行遙控操作，但是···但是····還是要用手指按屏幕·····本人一向懶惰出名，連手指都不打算用，怎么辦？所以這次利用手機的重力感應系統(tǒng)，用Java開發(fā)了一個Android重力感應遙控程序，操作者只需要改變手機的位置，程序就能把手機的空間狀態(tài)轉換成指令，發(fā)送給智能小車機器人，從而實現(xiàn)對其進行遙控，這下連手指都省了，就差直接用意念控制了，但是這個我是做不出的·····

2、·手機還是上次的那個Android手機，開發(fā)工具還是Eclipse ，語言就不用說了，Java。這是視頻： 下面是手機端開發(fā)過程和源代碼：用Eclipse新建一個命名為AccelerometerDemo的Android工程，這就不多說了。然后是權限申明，和之前的一樣，這里不再累述。如果不聲明將無法使用手機藍牙功能。最后打開Activity，添加重力感應遙控智能小車的代碼如下：package com.AccelerometerDemo.www;import java.io.IOException;import java.io.OutputStream;import java.util.

3、List;import java.util.UUID;import android.app.Activity;import android.bluetooth.BluetoothAdapter;import android.bluetooth.BluetoothDevice;import android.bluetooth.BluetoothSocket;import android.content.Context;import android.graphics.Bitmap;import android.graphics.BitmapFactory;import android.graphi

4、cs.Canvas;import android.graphics.Color;import android.graphics.Paint;import android.hardware.Sensor;import android.hardware.SensorEvent;import android.hardware.SensorEventListener;import android.hardware.SensorManager;import android.os.Bundle;import android.util.Log;import android.view.Gravity;impo

5、rt android.view.SurfaceHolder;import android.view.SurfaceView;import android.widget.Toast;public class AccelerometerDemo extends Activity implements SensorEventListener/* Called when the activity is first created. */private SensorManager sensorManager;private MySurfaceView view;private Object accele

6、rometer="X軸加速度值：","Y軸加速度值：","Z軸加速度值：",;private BluetoothAdapter mBluetoothAdapter = null;private BluetoothSocket btSocket = null;private OutputStream outStream = null;private static final UUID MY_UUID = UUID.fromString("00001101-0000-1000-8000-00805F9B34FB");p

7、rivate static String address = "00:11:03:21:00:43" / <=要連接的藍牙設備MAC地址Overridepublic void onCreate(Bundle savedInstanceState) super.onCreate(savedInstanceState);sensorManager=(SensorManager)getSystemService(SENSOR_SERVICE);view=new MySurfaceView(this);setContentView(view);mBluetoothAdapte

8、r = BluetoothAdapter.getDefaultAdapter();if (mBluetoothAdapter = null) Toast.makeText(this, "藍牙設備不可用，請打開藍牙！", Toast.LENGTH_LONG).show();finish();return;if (!mBluetoothAdapter.isEnabled() Toast.makeText(this, "請打開藍牙并重新運行程序！", Toast.LENGTH_LONG).show();finish();return;Overridepubli

9、c void onStart() super.onStart();Overrideprotected void onResume()super.onResume();List<Sensor> sensors=sensorManager.getSensorList(Sensor.TYPE_ACCELEROMETER);if(sensors.size()>0)sensorManager.registerListener(this, sensors.get(0),SensorManager.SENSOR_DELAY_FASTEST);DisplayToast("正在嘗試連

10、接智能小車，請稍后····");BluetoothDevice device = mBluetoothAdapter.getRemoteDevice(address);try btSocket = device.createRfcommSocketToServiceRecord(MY_UUID); catch (IOException e) DisplayToast("套接字創(chuàng)建失??！");DisplayToast("成功連接智能小車！可以開始操控了");mBluetoothAdapter.cancelD

11、iscovery();try btSocket.connect();DisplayToast("連接成功建立，數(shù)據(jù)連接打開！"); catch (IOException e) try btSocket.close(); catch (IOException e2) DisplayToast("連接沒有建立，無法關閉套接字！");Overrideprotected void onPause()super.onPause();sensorManager.unregisterListener(this);if (outStream != null) try o

12、utStream.flush(); catch (IOException e) try btSocket.close(); catch (IOException e2) DisplayToast("套接字關閉失?。?quot;);Overridepublic void onStop() super.onStop();Overridepublic void onDestroy() super.onDestroy();Overridepublic void onAccuracyChanged(Sensor sensor, int accuracy) / TODO Auto-generat

13、ed method stubOverridepublic void onSensorChanged(SensorEvent event) / TODO Auto-generated method stubview.onValueChanged(event.values);public void DisplayToast(String str)Toast toast=Toast.makeText(this, str, Toast.LENGTH_LONG);toast.setGravity(Gravity.TOP, 0, 220);toast.show();class MySurfaceView

14、extends SurfaceView implements SurfaceHolder.Callbackprivate float x,y,z;public MySurfaceView(Context context)super(context);getHolder().addCallback(this);Overridepublic void surfaceChanged(SurfaceHolder holder, int format, int width,int height) / TODO Auto-generated method stubx=(getWidth()/2;y=(ge

15、tHeight()/2;onValueChanged(new float3);Overridepublic void surfaceCreated(SurfaceHolder holder) / TODO Auto-generated method stubOverridepublic void surfaceDestroyed(SurfaceHolder holder) / TODO Auto-generated method stubSuppressWarnings("static-access")void onValueChanged(float values)Str

16、ing message;byte msgBuffer;z=(int)(2+values2/5);x=(getWidth()/2;y=(getHeight()/2;x-=values0*10;y+=values1*10;Canvas canvas=getHolder().lockCanvas();if(canvas!=null)Paint paint=new Paint();Paint paint1=new Paint();paint1.setAntiAlias(true);paint1.setColor(Color.RED);paint1.setTextSize(38);paint.setAn

17、tiAlias(true);paint.setColor(Color.BLUE);paint.setTextSize(36);canvas.drawColor(Color.WHITE);canvas.drawText("BY Liuviking", 50, 50, paint1);for(int i=0;i<values.length;i+)canvas.drawText(accelerometeri+":"+(int)valuesi, 0, paint.getTextSize()*(i+1)+90,paint);getHolder().unloc

18、kCanvasAndPost(canvas);/這段代碼的作用是實時顯示獲取的重力加速度值。int yaxis=(int)values1;int xaxis=(int)values0;/這里獲取Y軸和X軸的重力加速度值，經(jīng)過試驗發(fā)現(xiàn)用這兩個軸的重力加速度比較合理。int flag=0;if(xaxis>=3 && yaxis>2 && yaxis<8)flag=4;/xaxis大于3，前進標志為4,車子左轉else if(xaxis<=-3 && yaxis>2 && yaxis<8)/xaxi

19、s小于-3，前進標志為2,車子右轉flag=2;/如果前后方向有信號：else if(yaxis>=8 && xaxis>-3 && xaxis<3)flag=3;/zaxis大于9，前進標志為1,車子前進else if(yaxis<=3 && xaxis>-3 && xaxis<3)flag=1;/zaxis小于2，前進標志為3,車子后退elseflag=0;switch(flag)case 0:try outStream = btSocket.getOutputStream(); catch

20、 (IOException e) message = "0"msgBuffer = message.getBytes();try outStream.write(msgBuffer); catch (IOException e) break;case 1:try outStream = btSocket.getOutputStream(); catch (IOException e) message = "1"msgBuffer = message.getBytes();try outStream.write(msgBuffer); catch (IOException e) break;case 2:try outS