Android Open Source - blue-pi Accel Steer Activity

• Back to Hardware/robot  ↑

From Project

Back to project page blue-pi.

License

The source code is released under:

GNU General Public License

Java Source Code

package com.banderkat.blue_pi;
/*ww w  .java  2s  . c o m*/
import com.banderkat.blue_pi.BluetoothService;
import com.banderkat.blue_pi.BluetoothService.LocalBinder;

import android.content.ComponentName;
import android.content.Context;
import android.content.Intent;
import android.content.ServiceConnection;
import android.content.pm.ActivityInfo;
import android.hardware.Sensor;
import android.hardware.SensorEvent;
import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
import android.os.Bundle;
import android.os.IBinder;
import android.util.Log;
import android.view.View;
import android.view.View.OnClickListener;
import android.view.WindowManager;
import android.widget.TextView;
import android.widget.ToggleButton;

public class AccelSteerActivity extends MenuActivity {
  private static final String TAG = "Blue Pi AccelSteerActivity";
  
  Context context;
  private ToggleButton stopBtn, spinLeftBtn, spinRightBtn;
  private Sensor mAccelerometer;
  private SensorManager mSensorManager;
  private TextView showAccelText;
  private static TextView showVoltageText;
  private static final byte SPIN_SPEED = (byte) 30;
  
  BluetoothService mService;
  boolean mBound = false;
  
  /** Defines callbacks for service binding, passed to bindService() */
    private ServiceConnection mConnection = new ServiceConnection() {

        @Override
        public void onServiceConnected(ComponentName className,
                IBinder service) {
            // We've bound to LocalService, cast the IBinder and get LocalService instance
            LocalBinder binder = (LocalBinder) service;
            mService = binder.getService();
            mBound = true;
            mService.setHaveAccelSteer(true);
        }

        @Override
        public void onServiceDisconnected(ComponentName arg0) {
          if (mService != null) {
          mService.setHaveAccelSteer(false);
        }
          
          if (mBound) {
                unbindService(mConnection);
                mBound = false;
                mConnection = null;
            }
        }
    };
  
  @Override
  protected void onStart() {
    super.onStart();
    
    mSensorManager = (SensorManager)getSystemService(SENSOR_SERVICE);
    mAccelerometer = mSensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);
    
    // Bind to BluetoothService
        Intent intent = new Intent(this, BluetoothService.class);
        bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
        
  }
  
  @Override
  protected void onDestroy() {
    super.onDestroy();
    if (mService != null) {
      mService.setHaveAccelSteer(false);
    }
    
    if (mBound) {
            unbindService(mConnection);
            mBound = false;
            mConnection = null;
        }
  }
  
  @Override
  protected void onResume() {
    super.onResume();
    mSensorManager.registerListener(mAccelListener, mAccelerometer, SensorManager.SENSOR_DELAY_NORMAL);
    
    stopBtn.setChecked(false);
    spinLeftBtn.setEnabled(true);
    spinRightBtn.setEnabled(true);
    
    if (mService != null) {
      mService.setHaveAccelSteer(true);
    }
  }
  
  @Override
  protected void onPause() {
        super.onPause();
        mSensorManager.unregisterListener(mAccelListener);
        
        if (mService != null) {
      mService.setHaveAccelSteer(false);
    }
    }
  
  /** Called when the activity is first created. */
  @Override
  public void onCreate(Bundle savedInstanceState) {
    super.onCreate(savedInstanceState);
    setContentView(R.layout.accel_steer);
    
    // keep screen on
    getWindow().addFlags(WindowManager.LayoutParams.FLAG_KEEP_SCREEN_ON);
    
    // force landscape orientation
    this.setRequestedOrientation(ActivityInfo.SCREEN_ORIENTATION_LANDSCAPE);
    
    // Bind to BluetoothService
        Intent intent = new Intent(this, BluetoothService.class);
        bindService(intent, mConnection, Context.BIND_AUTO_CREATE);
        mBound = true;

    // Capture our button from layout
      stopBtn = (ToggleButton)findViewById(R.id.toggleButtonSTOP);
      // Register the onClick listener with the implementation above
      if (stopBtn != null) {
        stopBtn.setOnClickListener(mStopListener);
      }
      
      showAccelText = (TextView)findViewById(R.id.textViewShowAccel);
      showVoltageText = (TextView)findViewById(R.id.textViewVoltage);
      spinLeftBtn = (ToggleButton)findViewById(R.id.ToggleButtonLeft);
      spinRightBtn = (ToggleButton)findViewById(R.id.ToggleButtonRight);
      
      if (spinLeftBtn != null) {
        spinLeftBtn.setOnClickListener(mSpinLeftListener);
      }
      
      if (spinRightBtn != null) {
        spinRightBtn.setOnClickListener(mSpinRightListener);
      }
      
      spinLeftBtn.setEnabled(true);
    spinRightBtn.setEnabled(true);
      
  }
  
  protected void updateAccelText(float pitch, float roll) {
    CharSequence useText = "Pitch:  " + pitch + "\nRoll:  " + roll;
    showAccelText.setText(useText);
  }
  
  protected static void updateVoltage(int int1) {
    CharSequence useText = "Battery voltage: " + int1;
    showVoltageText.setText(useText);
  }
  
  // Create an anonymous implementation of OnClickListener
  private OnClickListener mStopListener = new OnClickListener() {
      public void onClick(View v) {
        
        // send stop message
        mService.writeStop();
        
        if (stopBtn.isChecked()) {
          spinLeftBtn.setEnabled(false);
          spinRightBtn.setEnabled(false);
          spinLeftBtn.setChecked(false);
          spinRightBtn.setChecked(false);
        } else {
          spinLeftBtn.setEnabled(true);
          spinRightBtn.setEnabled(true);
        }
      }
  };
  
  private OnClickListener mSpinLeftListener = new OnClickListener() {
      public void onClick(View v) {
        if (spinLeftBtn.isChecked()) {
          spinRightBtn.setChecked(false);
          byte[] msg = {BluetoothService.M2_FWD, SPIN_SPEED, BluetoothService.M1_REV, SPIN_SPEED};
          mService.writeMsg(msg);
        } else {
          mService.writeStop();
        }
      }
  };
  
  private OnClickListener mSpinRightListener = new OnClickListener() {
      public void onClick(View v) {
        if (spinRightBtn.isChecked()) {
          spinLeftBtn.setChecked(false);
          byte[] msg = {BluetoothService.M1_FWD, SPIN_SPEED, BluetoothService.M2_REV, SPIN_SPEED};
          mService.writeMsg(msg);
        } else {
          mService.writeStop();
        }
      }
  };
  
  private SensorEventListener mAccelListener = new SensorEventListener() {

    @Override
    public void onAccuracyChanged(Sensor arg0, int arg1) { }

    @Override
    public void onSensorChanged(SensorEvent event) {
        float pitch = event.values[1];
        float roll = event.values[2];
        
        // update label with accelerometer data
        updateAccelText(pitch, roll);
        
        if (stopBtn.isChecked()) {
          // drive
          setWheelsFromAccel(pitch, roll);
        }
    }
    
  };
  
  // range map implementation from rosettacode.org
  public static double mapRange(double a1, double a2, double b1, double b2, double s){
    return b1 + ((s - a1)*(b2 - b1))/(a2 - a1);
  }

  protected void setWheelsFromAccel(float p, float r) {
    // set wheel speed based on pitch and roll
    // use roll to control speed and pitch to control turn
    int rightSpeed = 0;
    int leftSpeed = 0;
    
    boolean posPitch = false;
    boolean posRoll = false;
    
    if (p > 0) {
      posPitch = true;
    }
    
    if (r > 0) {
      posRoll = true;
    }
    
    double pitch = Math.abs(p);
    double roll = Math.abs(r);
    
    if (pitch > 10) {
      pitch = 10;
    }
    
    if (roll > 10) {
      roll = 10;
    }
    
    
    rightSpeed = (int)mapRange(0, 10, 0, 127, roll);
    leftSpeed = rightSpeed;
    
    double pitchPct = mapRange(0, 10, 0, 1, pitch);
    
    if (posPitch) {
      // steer right
      leftSpeed -= (leftSpeed * pitchPct);
    } else {
      // steer left
      rightSpeed -= (rightSpeed * pitchPct);
    }
    
    Log.d(TAG + " setWheelsFromAccel", "leftSpeed: " + leftSpeed + " rightSpeed: " + rightSpeed);
    
    if (posRoll) {
      // drive forward
      byte[] msg = {BluetoothService.M1_FWD, (byte)rightSpeed, BluetoothService.M2_FWD, (byte)leftSpeed};
        mService.writeMsg(msg);
    } else {
      // drive in reverse
      byte[] msg = {BluetoothService.M2_REV, (byte)leftSpeed, BluetoothService.M1_REV, (byte)rightSpeed};
        mService.writeMsg(msg);
    }
  }

}

Java Source Code List

• Back to Hardware/robot  ↑