android的WIFI小车编程介绍

今天小编跟大家分享的是android的WIFI小车编程介绍，android中的WIFI小车编程注意事项有哪些，为了让大家更加了解android的WIFI小车编程，给大家总结了以下内容，一起往下看吧。

小车是四个轮子的，每个轮子上都有电机驱动，前进后退的时候四个轮子同时前进和后退，转弯的时候，小车两边的轮子按反方向转。

为了达到更好的操作效果（一直按下前进，小车前进，按下左右转小车左右转，松开左右转，小车继续前进。松开前进，小车停止。后退同理），在单片机程序里加入了前进或后退的标志位。先说明一下，，，，，，

按下前进向单片机发送‘0’，按下后退向单片机发送‘1’，按下左转向单片机发送‘2’,按下右转向单片机发送‘3’，松开前进或后退向单片机发送‘5’，松开左转或右转向单片机发送‘6’，这样子发数据也是为了获得更好的操作体验

前进 后退 左转 右转按钮是使用的setOnTouchListener方法，以便在按钮按下或松开时发送数据，

就看一下前进代码

我在前面声明了一下

 //前进
    private OnTouchListener forwordButtonTouch = new OnTouchListener() {
        
        @Override        public boolean onTouch(View v, MotionEvent event) {            // TODO Auto-generated method stub
            switch (event.getAction()) {            case MotionEvent.ACTION_DOWN://如果按下                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("0".getBytes());//发送0
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }                break;            case MotionEvent.ACTION_UP://如果松开                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("5".getBytes());//发送‘5’
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }            default:                break;
            }            return false;
        }
    };

//源码package com.wifi_Contrl;import java.io.IOException;import java.io.InputStream;import java.io.OutputStream;import java.net.InetAddress;import java.net.Socket;import android.annotation.SuppressLint;import android.app.Activity;import android.os.Bundle;import android.view.Menu;import android.view.MenuItem;import android.view.MotionEvent;import android.view.View;import android.view.View.OnClickListener;import android.view.View.OnTouchListener;import android.widget.Button;import android.widget.EditText;import android.widget.Toast;


@SuppressLint("ClickableViewAccessibility") public class MainActivity extends Activity {    boolean isConnect=true;//连接还是断开
    Button connectButton;//定义连接按钮
    Button forwordButton;//定义前进按钮
    Button backButton;//定义后退按钮
    Button leftButton;//定义左转按钮
    Button righButton;//定义右转按钮
    EditText ipEditText;//定义ip输入框
    EditText portText;//定义端口输入框
    Socket socket = null;//定义socket
    private InputStream inputStream=null;//定义输入流
    private OutputStream outputStream=null;//定义输出流    @Override    protected void onCreate(Bundle savedInstanceState) {        super.onCreate(savedInstanceState);
        setContentView(R.layout.activity_main);
        
        connectButton = (Button) findViewById(R.id.btConnect);
        forwordButton = (Button) findViewById(R.id.btqianjin);
        backButton = (Button) findViewById(R.id.bthoutui);
        leftButton = (Button) findViewById(R.id.btzuozhuan);
        righButton = (Button) findViewById(R.id.btyuozhuan);
        ipEditText = (EditText) findViewById(R.id.etIP);
        portText = (EditText) findViewById(R.id.etPort);
        
        connectButton.setOnClickListener(connectButtonListener);
        forwordButton.setOnTouchListener(forwordButtonTouch);
        backButton.setOnTouchListener(backButtonTouch);
        leftButton.setOnTouchListener(leftButtonTouch);
        righButton.setOnTouchListener(righButtonTouch);
       
    }    //连接
    private OnClickListener connectButtonListener = new OnClickListener() {
        
        @Override        public void onClick(View v) {            // TODO Auto-generated method stub
            if (isConnect == true) //标志位 = true表示连接            {
                isConnect = false;//置为false
                connectButton.setText("断开");//按钮上显示--断开                //打开连接线程
                Connect_Thread connect_Thread = new Connect_Thread();
                connect_Thread.start();
            }            else //标志位 = false表示退出连接            {
                isConnect = true;//置为true
                connectButton.setText("连接");//按钮上显示连接
                Toast.makeText(MainActivity.this,"已退出连接！", Toast.LENGTH_SHORT).show();                try 
                {
                    socket.close();//关闭连接
                    socket=null;
                } 
                catch (IOException e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }
            }
        }
    };    //前进
    private OnTouchListener forwordButtonTouch = new OnTouchListener() {
        
        @Override        public boolean onTouch(View v, MotionEvent event) {            // TODO Auto-generated method stub
            switch (event.getAction()) {            case MotionEvent.ACTION_DOWN:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("0".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }                break;            case MotionEvent.ACTION_UP:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("5".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }            default:                break;
            }            return false;
        }
    };    //后退
    private OnTouchListener backButtonTouch = new OnTouchListener() {
            
            @Override            public boolean onTouch(View v, MotionEvent event) {                // TODO Auto-generated method stub
                switch (event.getAction()) {                case MotionEvent.ACTION_DOWN:                    try 
                    {                        //获取输出流
                        outputStream = socket.getOutputStream();                        //发送数据                        //outputStream.write(msgEditText.getText().toString().getBytes());
                        outputStream.write("1".getBytes());
                    } 
                    catch (Exception e) 
                    {                        // TODO Auto-generated catch block                        e.printStackTrace();
                    }                    break;                case MotionEvent.ACTION_UP:                    try 
                    {                        //获取输出流
                        outputStream = socket.getOutputStream();                        //发送数据                        //outputStream.write(msgEditText.getText().toString().getBytes());
                        outputStream.write("5".getBytes());
                    } 
                    catch (Exception e) 
                    {                        // TODO Auto-generated catch block                        e.printStackTrace();
                    }                default:                    break;
                }                return false;
            }
    };    //左转
    private OnTouchListener leftButtonTouch = new OnTouchListener() {
        
        @Override        public boolean onTouch(View v, MotionEvent event) {            // TODO Auto-generated method stub
            switch (event.getAction()) {            case MotionEvent.ACTION_DOWN:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("2".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }                break;            case MotionEvent.ACTION_UP:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("6".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }            default:                break;
            }            return false;
        }
    };    //右转
    private OnTouchListener righButtonTouch = new OnTouchListener() {
        
        @Override        public boolean onTouch(View v, MotionEvent event) {            // TODO Auto-generated method stub
            switch (event.getAction()) {            case MotionEvent.ACTION_DOWN:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("3".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }                break;            case MotionEvent.ACTION_UP:                try 
                {                    //获取输出流
                    outputStream = socket.getOutputStream();                    //发送数据                    //outputStream.write(msgEditText.getText().toString().getBytes());
                    outputStream.write("6".getBytes());
                } 
                catch (Exception e) 
                {                    // TODO Auto-generated catch block                    e.printStackTrace();
                }            default:                break;
            }            return false;
        }
    };    //连接线程
    class Connect_Thread extends Thread//继承Thread    {        public void run()//重写run方法        {            try 
            {                if (socket == null) 
                {                    //用InetAddress方法获取ip地址
                    InetAddress ipAddress = InetAddress.getByName(ipEditText.getText().toString());                    int port =Integer.valueOf(portText.getText().toString());//获取端口号 
                    socket = new Socket(ipAddress, port);//创建连接地址和端口    
                    if (socket !=null) {
                        runOnUiThread(new Runnable()
                        {                            public void run() 
                            {    
                                // TODO Auto-generated method stub
                                Toast.makeText(MainActivity.this,"已成功连接！", Toast.LENGTH_SHORT).show();
                            }                        
                        });
                    }
                }    
            } 
            catch (Exception e) 
            {                // TODO Auto-generated catch block                e.printStackTrace();
            }
        }
    }
}

//布局源码，大神勿喷，小弟才入门android，所以关于布局还，，，，，<AbsoluteLayout xmlns:android="http://schemas.android.com/apk/res/android"
    xmlns:tools="http://schemas.android.com/tools"
    android:layout_width="match_parent"
    android:layout_height="match_parent"
    android:background="@android:color/holo_purple"
    android:paddingBottom="@dimen/activity_vertical_margin"
    android:paddingLeft="@dimen/activity_horizontal_margin"
    android:paddingRight="@dimen/activity_horizontal_margin"
    android:paddingTop="@dimen/activity_vertical_margin"
    tools:context="com.wifi_Contrl.MainActivity" >

    <!-- IP地址 : -->
    <TextView
        android:id="@+id/tvIP"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:text="IP地址 :"
        android:textSize="23dp" 
        android:layout_x="0dp"
        android:layout_y="0dp"
        />
        
    <!-- 左转 -->
    <Button
        android:id="@+id/btzuozhuan"
        android:layout_width="wrap_content"
        android:layout_height="80dp"
        android:layout_x="400dp"
        android:layout_y="118dp"
        android:text="左转" />

    <!-- 右转 -->
    <Button
        android:id="@+id/btyuozhuan"
        android:layout_width="wrap_content"
        android:layout_height="80dp"
        android:layout_x="520dp"
        android:layout_y="118dp"
        android:text="右转" />

    <!-- 后退 -->

    <Button
        android:id="@+id/bthoutui"
        android:layout_width="wrap_content"
        android:layout_height="90dp"
        android:layout_x="105dp"
        android:layout_y="200dp"
        android:text="后退" />

    <!-- 前进 -->
    <Button
        android:id="@+id/btqianjin"
        android:layout_width="wrap_content"
        android:layout_height="90dp"
        android:layout_marginBottom="21dp"
        android:layout_x="105dp"
        android:layout_y="65dp"
        android:text="前进" />
    
    <!-- 连接 -->
    <Button
        android:id="@+id/btConnect"
        android:layout_width="wrap_content"
        android:layout_height="40dp"
        android:layout_marginBottom="21dp"
        android:layout_x="500dp"
        android:text="连接" />

    <!-- 端口号 : -->
    <TextView
        android:id="@+id/tvPort"
        android:layout_width="wrap_content"
        android:layout_height="wrap_content"
        android:layout_x="280dp"
        android:layout_y="0dp"
        android:text="端口号 :"
        android:textSize="23dp" />

    <!-- 输入端口地址的文本控件 -->
    <EditText
        android:id="@+id/etPort"
        android:layout_width="70dp"
        android:layout_height="30dp"
        android:layout_x="380dp"
        android:layout_y="0dp"
        android:background="@android:color/white"
        android:ems="10"
        android:text="8080" />

    <!-- 输入ip地址的文本控件 -->

    <EditText
        android:id="@+id/etIP"
        android:layout_width="150dp"
        android:layout_height="30dp"
        android:layout_x="100dp"
        android:layout_y="0dp"
        android:background="@android:color/white"
        android:ems="10"
        android:text="192.168.4.1" >

        <requestFocus />
    </EditText>

</AbsoluteLayout>

再看单片机，因为学实时操作系统UCOSII的时候，写程序就养成了这样写程序习惯，如果对于这样

#ifndef _USART_C_//如果没有定义_USART_C_
#define _USART_C_ extern
#else
#define _USART_C_
#endif

_USART_C_ unsigned char Usart_Receive[20];
_USART_C_ unsigned char Usart_Cnt;
_USART_C_ bit Usart_AT_flage;
_USART_C_ bit Command_Flag;
_USART_C_ unsigned char UsartData;
_USART_C_ void InitUART(void);//串口初始化
_USART_C_ void SendOneByte(unsigned char c);//发送字节型数据
_USART_C_ void UartSends(unsigned char *str);//串行口连续发送char型数组，遇到终止号/0将停止

其实这样写，有助于各个c文件之间调用变量。说一下

#ifndef _USART_C_//如果没有定义_USART_C_
#define _USART_C_ extern//就定义_USART_C_ 为extern
#else//否则
#define _USART_C_就定义_USART_C_为空
#endif

如果是自身文件编译由于我在USART.C文件的开头加上了#define _USART_C_所以，就定义_USART_C_为空

即   unsigned char Usart_Receive[20];

如果别的文件编译那么因为别的文件没有定义#define _USART_C_ 所以就定义_USART_C_ 为extern

即extern  unsigned char Usart_Receive[20];

对于extern  这应该不陌生吧，好了接着往下看，

不好意思再啰嗦下，我把所有的.h文件全放在了一个.h文件中，这样在每个c文件的开头只需加上#include "include.h"就方便多了

#define _MAIN_C_#include "include.h"sbit a1 = P1^0;//前左轮前进sbit a2 = P1^1;//前左轮后退sbit a3 = P1^2;//前右轮前进sbit a4 = P1^3;//前右轮后进sbit a5 = P1^4;//后左轮前进sbit a6 = P1^5;//后左轮后退sbit a7 = P1^6;//后右轮前进sbit a8 = P1^7;//后右轮后进bit forword_flag=0;
bit back_flag=0;

unsigned char CWMODE[]="AT+CWMODE=2\r\n"; //设置模块的工作的模式为AP模式unsigned char RST[]="AT+RST\r\n"; //重启模块使AT+CWMODE=2模式生效unsigned char CIPMUX[]="AT+CIPMUX=1\r\n"; //启动多连接unsigned char CIPSERVER[]="AT+CIPSERVER=1,8080\r\n";//开启服务器模式，端口号8080void delay1s(void) //误差 -0.00000000024us{
 unsigned char a,b,c; for(c=95;c>0;c--)for(b=26;b>0;b--)for(a=185;a>0;a--);
}//多连接AP模式void ManyConnect_AP()
{
    P0=0x00;    while(1)
    {
    UartSends(CWMODE);//返回ok    delay1s();    if(Usart_AT_flage ==1)
    {    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = 0;
    P0 = 0x01;    break;
    } 
    }
 }
    UartSends(RST);//返回一大溜，不用判断返回delay1s();
    delay1s();    while(1)
    {
    UartSends(CIPMUX);//返回ok    delay1s();    if(Usart_AT_flage ==1)
    {    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = 0;
    P0 = 0x03;    break;
    } 
    }
 }    while(1)
    {
    UartSends(CIPSERVER);//返回ok，多了也返回ok    delay1s();    if(Usart_AT_flage ==1)
    {    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = 0;
    P0 = 0x07;    break;
    } 
    }
 }
}void main()
{
    InitUART();    while(1)
    {
    ManyConnect_AP();//多连接AP模式while(1)
    {    //由于消息的开头是+IP 故做此判断if((Usart_Receive[0]=='+')&&(Usart_Receive[1]=='I')&&(Usart_Receive[2]=='P'))
    {    if((Usart_Receive[3]=='D')&&(Usart_Receive[6]==','))
    {    if(Usart_Receive[9]=='0')//前进{
forword_flag = 1;//前进标志位置一back_flag = 0; //后退标志位置零a1 = 1;//前左轮前进a2 = 0;//前左轮后退a3 = 1;//前右轮前进a4 = 0;//前右轮后进a5 = 1;//后左轮前进a6 = 0;//后左轮后退a7 = 1;//后右轮前进a8 = 0;//后右轮后进/*sbit a1 = P1^0;//前左轮前进
sbit a2 = P1^0;//前左轮后退
sbit a3 = P1^1;//前右轮前进
sbit a4 = P1^2;//前右轮后进
sbit a5 = P1^3;//后左轮前进
sbit a6 = P1^0;//后左轮后退
sbit a7 = P1^0;//后右轮前进
sbit a8 = P1^1;//后右轮后进*/

    }if(Usart_Receive[9]=='1')//后退{
forword_flag = 0;//前进标志位置一back_flag = 1; //后退标志位置零a1 = 0;//前左轮前进a2 = 1;//前左轮后退a3 = 0;//前右轮前进a4 = 1;//前右轮后进a5 = 0;//后左轮前进a6 = 1;//后左轮后退a7 = 0;//后右轮前进a8 = 1;//后右轮后进}if(Usart_Receive[9]=='6')//左右转停止{if(forword_flag == 1 && back_flag == 0)//上一次按下的是前进，没松开{    //前进a1 = 1;//前左轮前进a2 = 0;//前左轮后退a3 = 1;//前右轮前进a4 = 0;//前右轮后进a5 = 1;//后左轮前进a6 = 0;//后左轮后退a7 = 1;//后右轮前进a8 = 0;//后右轮后进}if(forword_flag == 0 && back_flag == 1)//上一次按下的是后退，没松开{    //后退a1 = 0;//前左轮前进a2 = 1;//前左轮后退a3 = 0;//前右轮前进a4 = 1;//前右轮后进a5 = 0;//后左轮前进a6 = 1;//后左轮后退a7 = 0;//后右轮前进a8 = 1;//后右轮后进}if(forword_flag == 0 && back_flag == 0)//上一次松开了前进或后退{    //停止a1 = 0;//前左轮前进a2 = 0;//前左轮后退a3 = 0;//前右轮前进a4 = 0;//前右轮后进a5 = 0;//后左轮前进a6 = 0;//后左轮后退a7 = 0;//后右轮前进a8 = 0;//后右轮后进}
    }if(Usart_Receive[9]=='2')//左转{
a1 = 0;//前左轮前进a2 = 1;//前左轮后退a3 = 1;//前右轮前进a4 = 0;//前右轮后进a5 = 0;//后左轮前进a6 = 1;//后左轮后退a7 = 1;//后右轮前进a8 = 0;//后右轮后退}if(Usart_Receive[9]=='3')//右转{
a1 = 1;//前左轮前进a2 = 0;//前左轮后退a3 = 0;//前右轮前进a4 = 1;//前右轮后进a5 = 1;//后左轮前进a6 = 0;//后左轮后退a7 = 0;//后右轮前进a8 = 1;//后右轮后退}if(Usart_Receive[9]=='5')//停止{
forword_flag = 0;//前进标志位置零back_flag = 0; //后退标志位置零a1 = 0;//前左轮前进a2 = 0;//前左轮后退a3 = 0;//前右轮前进a4 = 0;//前右轮后进a5 = 0;//后左轮前进a6 = 0;//后左轮后退a7 = 0;//后右轮前进a8 = 0;//后右轮后进}
    }
    }
    }
    }
}

#define _USART_C_#include "include.h"unsigned char Usart_Receive[20]={0};
unsigned char Usart_Cnt=0;
bit Usart_AT_flage;
bit flage;
bit Command_Flag;void InitUART(void)
{
    TMOD = 0x20;
    SCON = 0x50;
    TH1 = 0xFD;
    TL1 = TH1;
    PCON = 0x00;
    EA = 1;
    ES = 1;
    TR1 = 1;
}void SendOneByte(unsigned char c)
{
        SBUF = c;        while(!TI);
        TI = 0;    
}//串行口连续发送char型数组，遇到终止号/0(空格)将停止void UartSends(unsigned char *str)
{    while(*str!='\0')
    {
        SBUF=*str;        while(!TI);//等待发送完成信号（TI=1）出现
        TI=0;
        str++;
    }
}void UARTInterrupt(void) interrupt 4{
    RI=0;
    Usart_Receive[Usart_Cnt]=SBUF;//接收串口数据
    Usart_Cnt++;//
    //返回数据以回车结尾，有回车，而且数据个数大于2，说明接收到了数据
    if(Usart_Receive[Usart_Cnt-2]=='\r' && Usart_Receive[Usart_Cnt-1]=='\n' && Usart_Cnt >= 2)
    {
        Usart_Cnt = 0;//接收数据计数清零
        Usart_AT_flage = 1;//数据接收成功标志位  }    else if(Usart_Cnt > 20)//    {
        Usart_Cnt = 0;
    }    
}

#ifndef __USART_H_#define __USART_H_#ifndef _USART_C_#define _USART_C_ extern#else#define _USART_C_#endif_USART_C_ unsigned char Usart_Receive[20];
_USART_C_ unsigned char Usart_Cnt;
_USART_C_ bit Usart_AT_flage;
_USART_C_ bit Command_Flag;
_USART_C_ unsigned char UsartData;
_USART_C_ void InitUART(void);//串口初始化_USART_C_ void SendOneByte(unsigned char c);//发送字节型数据_USART_C_ void UartSends(unsigned char *str);//串行口连续发送char型数组，遇到终止号/0将停止#endif

#include <REGX52.H>#include "USART.h"#include <string.h>

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