<android.support.v4.widget.DrawerLayout
    xmlns:android="http://schemas.android.com/apk/res/android"
    android:id="@+id/drawer_layout"
    android:layout_width="match_parent"
    android:layout_height="match_parent">
    <!-- The main content view -->
    <FrameLayout
        android:id="@+id/content_frame"
        android:layout_width="match_parent"
        android:layout_height="match_parent" />
    <!-- The navigation drawer -->
    <ListView android:id="@+id/left_drawer"
        android:layout_width="240dp"
        android:layout_height="match_parent"
        android:layout_gravity="start"
        android:choiceMode="singleChoice"
        android:divider="@android:color/transparent"
        android:dividerHeight="0dp"
        android:background="#111"/>
</android.support.v4.widget.DrawerLayout>

public class MainActivity extends Activity {
    private String[] mPlanetTitles;
    private ListView mDrawerList;
    ...

    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);

        mPlanetTitles = getResources().getStringArray(R.array.planets_array);
        mDrawerList = (ListView) findViewById(R.id.left_drawer);

        // Set the adapter for the list view
        mDrawerList.setAdapter(new ArrayAdapter<String>(this,
                R.layout.drawer_list_item, mPlanetTitles));
        // Set the list's click listener
        mDrawerList.setOnItemClickListener(new DrawerItemClickListener());

        ...
    }
}

处理导航项选点击事件

private class DrawerItemClickListener implements ListView.OnItemClickListener {
    @Override
    public void onItemClick(AdapterView parent, View view, int position, long id) {
        selectItem(position);
    }
}

/** Swaps fragments in the main content view */
private void selectItem(int position) {
    // Create a new fragment and specify the planet to show based on position
    Fragment fragment = new PlanetFragment();
    Bundle args = new Bundle();
    args.putInt(PlanetFragment.ARG_PLANET_NUMBER, position);
    fragment.setArguments(args);

    // Insert the fragment by replacing any existing fragment
    FragmentManager fragmentManager = getFragmentManager();
    fragmentManager.beginTransaction()
                   .replace(R.id.content_frame, fragment)
                   .commit();

    // Highlight the selected item, update the title, and close the drawer
    mDrawer.setItemChecked(position, true);
    setTitle(mPlanetTitles[position]);
    mDrawerLayout.closeDrawer(mDrawer);
}

@Override
public void setTitle(CharSequence title) {
    mTitle = title;
    getActionBar().setTitle(mTitle);
}

监听导航抽屉打开和关闭事件

public class MainActivity extends Activity {
    private DrawerLayout mDrawerLayout;
    private ActionBarDrawerToggle mDrawerToggle;
    private CharSequence mDrawerTitle;
    private CharSequence mTitle;
    ...

    @Override
    public void onCreate(Bundle savedInstanceState) {
        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        ...

        mTitle = mDrawerTitle = getTitle();
        mDrawerLayout = (DrawerLayout) findViewById(R.id.drawer_layout);
        mDrawerToggle = new ActionBarDrawerToggle(this, mDrawerLayout,
                R.drawable.ic_drawer, R.string.drawer_open, R.string.drawer_close) {

            /** Called when a drawer has settled in a completely closed state. */
            public void onDrawerClosed(View view) {
                getActionBar().setTitle(mTitle);
                invalidateOptionsMenu(); // creates call to onPrepareOptionsMenu()
            }

            /** Called when a drawer has settled in a completely open state. */
            public void onDrawerOpened(View drawerView) {
                getActionBar().setTitle(mDrawerTitle);
                invalidateOptionsMenu(); // creates call to onPrepareOptionsMenu()
            }
        };

        // Set the drawer toggle as the DrawerListener
        mDrawerLayout.setDrawerListener(mDrawerToggle);
    }

    /* Called whenever we call invalidateOptionsMenu() */
    @Override
    public boolean onPrepareOptionsMenu(Menu menu) {
        // If the nav drawer is open, hide action items related to the content view
        boolean drawerOpen = mDrawerLayout.isDrawerOpen(mDrawerList);
        menu.findItem(R.id.action_websearch).setVisible(!drawerOpen);
        return super.onPrepareOptionsMenu(menu);
    }
}

点击应用图标来打开和关闭导航抽屉 

public class MainActivity extends Activity {
    private DrawerLayout mDrawerLayout;
    private ActionBarDrawerToggle mDrawerToggle;
    ...

    public void onCreate(Bundle savedInstanceState) {
        ...

        mDrawerLayout = (DrawerLayout) findViewById(R.id.drawer_layout);
        mDrawerToggle = new ActionBarDrawerToggle(
                this,                  /* host Activity */
                mDrawerLayout,         /* DrawerLayout object */
                R.drawable.ic_drawer,  /* nav drawer icon to replace 'Up' caret */
                R.string.drawer_open,  /* "open drawer" description */
                R.string.drawer_close  /* "close drawer" description */
                ) {

            /** Called when a drawer has settled in a completely closed state. */
            public void onDrawerClosed(View view) {
                getActionBar().setTitle(mTitle);
            }

            /** Called when a drawer has settled in a completely open state. */
            public void onDrawerOpened(View drawerView) {
                getActionBar().setTitle(mDrawerTitle);
            }
        };

        // Set the drawer toggle as the DrawerListener
        mDrawerLayout.setDrawerListener(mDrawerToggle);

        getActionBar().setDisplayHomeAsUpEnabled(true);
        getActionBar().setHomeButtonEnabled(true);
    }

    @Override
    protected void onPostCreate(Bundle savedInstanceState) {
        super.onPostCreate(savedInstanceState);
        // Sync the toggle state after onRestoreInstanceState has occurred.
        mDrawerToggle.syncState();
    }

    @Override
    public void onConfigurationChanged(Configuration newConfig) {
        super.onConfigurationChanged(newConfig);
        mDrawerToggle.onConfigurationChanged(newConfig);
    }

    @Override
    public boolean onOptionsItemSelected(MenuItem item) {
        // Pass the event to ActionBarDrawerToggle, if it returns
        // true, then it has handled the app icon touch event
        if (mDrawerToggle.onOptionsItemSelected(item)) {
          return true;
        }
        // Handle your other action bar items...

        return super.onOptionsItemSelected(item);
    }

    ...
}