如何用c#编写关于全局定位实时显示地图的上位机
1、上位机程序
namespace 全局定位1
{
public partial class Form1 : Form
{
Stopwatch sw = new Stopwatch();
//PID暂存
double x = 0.0;
double y = 0.0;
double p = 0.0;
bool drawornot = false;
public Form1()
{
InitializeComponent();
//获取端口列表
pictureBox2.Image = Image.FromFile("车.PNG");
pictureBox1.Image = Image.FromFile("比赛场地.PNG");
string[] ports = SerialPort.GetPortNames();//得到接口名字
//将端口列表添加到comboBox
this.comboBox2.Items.AddRange(ports);
serialPort1.DataReceived += DataReceivedHandler;
sw.Start();
Control.CheckForIllegalCrossThreadCalls = false; //防止跨线程出错
//定时器中断时间
timer1.Interval = 100;
timer2.Interval = 100;
timer3.Interval = 300;
}
static int buffersize = 18; //十六进制数的大小（假设为9Byte,可调整数字大小）
byte[] buffer = new Byte[buffersize]; //创建缓冲区
private void Form1_Load(object sender, EventArgs e)
{
comboBox1.Items.Add("1200");
comboBox1.Items.Add("2400");
comboBox1.Items.Add("4800");
comboBox1.Items.Add("9600");
comboBox1.Items.Add("14400");
comboBox1.Items.Add("19200");
comboBox1.Items.Add("28800");
comboBox1.Items.Add("38400");//常用的波特率
try
{
string[] ports = SerialPort.GetPortNames();//得到接口名字
//将端口列表添加到comboBox
this.comboBox2.Items.AddRange(ports);
///设置波特率
serialPort1.BaudRate = Convert.ToInt32(comboBox1.Text);
}
catch (Exception ex)
{
}
}
private void pictureBox1_Click(object sender, EventArgs e)//用于显示地图
{
}
private void button2_Click(object sender, EventArgs e)//接收/暂停数据按钮
{
if (serialPort1.IsOpen)////(更新)如果按下按钮之前串口是开的，就断开//如果按下按钮之前 flag的内容是false 按下之后 内容改成true 然后打开串口
{
serialPort1.Close();
button2.Text = "连接";
timer3.Stop();
}
else
{
//要打开串口要看波特率 串口等有没有设置对
bool no_error_flag = true;
try
{
serialPort1.BaudRate = Convert.ToInt32(comboBox1.SelectedItem);
}
catch (ArgumentException e1)
{
this.errorProvider1.SetError(this.comboBox1, "不能为空");
no_error_flag = false;
}
try
{
serialPort1.PortName = Convert.ToString(comboBox2.SelectedItem);
}
catch (ArgumentException e2)
{
this.errorProvider1.SetError(this.comboBox2, "不能为空");
no_error_flag = false;
}
try
{
serialPort1.Open();
}
catch
{
MessageBox.Show("端口错误", "警告");
no_error_flag = false;
}
if (no_error_flag)
{
button2.Text = "断开连接";
}
}
}
private void timer3_Tick(object sender, EventArgs e)//第三定位器
{
if (serialPort1.IsOpen)
{
textBox1.Text = data_warehouse;
textBox1.SelectionStart = textBox1.TextLength;//光标定位到文本最后
textBox1.ScrollToCaret();
UpdateQueueValue();
}
if (drawornot)
{
MessageBox.Show("数据接收失败！", "系统提示");
}
}
//串口接收完成事件——接收所有数据
string data_warehouse = "";
public void DataReceivedHandler(object sender, SerialDataReceivedEventArgs e)
{
//读取串口中的所有数据
string readfromport = serialPort1.ReadExisting();
data_warehouse += readfromport;
}
//更新队列程序
string[] separators = { "A:", "B:", "X:", "Y:", "P:" };
int pos = 0;
private void UpdateQueueValue()
{
while (data_warehouse.Length > 35)
{
//第一个换行符的位置
pos = data_warehouse.IndexOf('\n');
//断句第一个换行符
Debug.WriteLine("" + pos);
string s = data_warehouse.Remove(pos).ToUpper();
//删掉读到的第一句话
data_warehouse = data_warehouse.Remove(0, pos + 1);
//开始断句
string[] words = s.Split(separators, StringSplitOptions.RemoveEmptyEntries);
//读取断句中的数据
try
{
//float d1 = Convert.ToSingle(words[0]);
//float d2 = Convert.ToSingle(words[1]);
x = Convert.ToDouble(words[2]);
y = Convert.ToDouble(words[3]);
p = Convert.ToDouble(words[4]);
Debug.WriteLine(words[3]);
}
catch (Exception e)
{
Debug.WriteLine(e.ToString());
}
}
}
private void button4_Click(object sender, EventArgs e)//开始画图按钮
{
this.pictureBox2.Image.RotateFlip(RotateFlipType.Rotate90FlipXY);//这里我需要得到陀螺仪给的角度p，然后用if语句判断角
//度p来执行这条语句, 实现90度旋转
this.pictureBox2.Refresh();
if (data_warehouse.Length>0)
{
MessageBox.Show("数据接收成功！", "系统提示");
}
else
{
MessageBox.Show("数据接受失败！", "警告");
}
timer1.Start();
timer2.Start();
timer3.Start();
2、arduino程序
#include <SPI.h>
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#define OLED_RESET 4
Adafruit_SSD1306 display(OLED_RESET);
const int X_dir = 9;
const int Y_dir = 10;
double X_juli, Y_juli;
const byte X_interruptPin = 2;
const byte Y_interruptpin = 3;
volatile byte xstate = HIGH;
volatile byte ystate = HIGH;
double x = 0, y = 0;
void setup()
{
display.begin(SSD1306_SWITCHCAPVCC);
Serial.begin(9600);
pinMode(X_dir, INPUT_PULLUP);
pinMode(X_interruptPin, INPUT_PULLUP);
pinMode(Y_dir, INPUT_PULLUP);
pinMode(Y_interruptpin, INPUT_PULLUP);
attachInterrupt(digitalPinToInterrupt(X_interruptPin), xblink, FALLING );
attachInterrupt(digitalPinToInterrupt(Y_interruptpin), yblink, FALLING );
}
void loop()
{
X_juli = 1.0 * x / 256 * 118.3;
Y_juli = 1.0 * y / 256 * 118.3;
Serial.print(X_juli);
Serial.print(" ");
Serial.println(Y_juli);
/*display.setTextSize(1);
display.setTextColor(WHITE);
display.setCursor(0, 0);
display.clearDisplay();
display.print("x =");
display.println(X_juli);
display.print("y =");
display.println(Y_juli);
display.display();*/
delay(1);
}
void xblink()
{
xstate = digitalRead(X_dir);
if (xstate == HIGH)
x--;
else
x++;
}
void yblink()
{
ystate = digitalRead(Y_dir);
if (ystate == HIGH)
y++;
else
y--;
}