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 多唉捋胝: 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 4Adafruit_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--;}