android之WIFI小车编程详述

有了前几篇wifi模块eps8266的使用，单片机设置eps8266程序，android TCP客户端，现在就做一个wifi小车

先上图

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，关于OnTouchListener的使用，，找度娘，我也是找的度娘，不要偷懒呦

 //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_ex_ extern
#else
#define _USART_ex_
#endif

_USART_ex_ unsigned char Usart_Receive[20];
_USART_ex_ unsigned char Usart_Cnt;
_USART_ex_ bit Usart_AT_flage;
_USART_ex_ bit Command_Flag;
_USART_ex_ unsigned char UsartData;
_USART_ex_ void InitUART(void);//串口初始化
_USART_ex_ void SendOneByte(unsigned char c);//发送字节型数据
_USART_ex_ 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_ex_ extern//就定义_USART_ex_ 为extern
#else//否则
#define _USART_ex_就定义_USART_ex_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_ex_ 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^;//前左轮前进
sbit a2 = P1^;//前左轮后退
sbit a3 = P1^;//前右轮前进
sbit a4 = P1^;//前右轮后进
sbit a5 = P1^;//后左轮前进
sbit a6 = P1^;//后左轮后退
sbit a7 = P1^;//后右轮前进
sbit a8 = P1^;//后右轮后进

bit forword_flag=;
bit back_flag=;

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8080

void delay1s(void) //误差 -0.00000000024us
{
 unsigned char a,b,c;
 for(c=;c>;c--)
for(b=;b>;b--)
for(a=;a>;a--);
}

//多连接AP模式
void ManyConnect_AP()
{
    P0=0x00;
    while()
    {
    UartSends(CWMODE);//返回ok
    delay1s();
    if(Usart_AT_flage ==)
    {
    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = ;
    P0 = 0x01;
    break;
    }
    }
 }
    UartSends(RST);//返回一大溜，不用判断返回
delay1s();
    delay1s();
    while()
    {
    UartSends(CIPMUX);//返回ok
    delay1s();
    if(Usart_AT_flage ==)
    {
    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = ;
    P0 = 0x03;
    break;
    }
    }
 }
    while()
    {
    UartSends(CIPSERVER);//返回ok，多了也返回ok
    delay1s();
    if(Usart_AT_flage ==)
    {
    if(strstr(Usart_Receive, "OK") )
    {
    Usart_AT_flage = ;
    P0 = 0x07;
    break;
    }
    }
 }
}

void main()
{
    InitUART();
    while()
    {
    ManyConnect_AP();//多连接AP模式
while()
    {
    //由于消息的开头是+IP 故做此判断
if((Usart_Receive[]=='+')&&(Usart_Receive[]=='I')&&(Usart_Receive[]=='P'))
    {
    if((Usart_Receive[]=='D')&&(Usart_Receive[]==','))
    {
    if(Usart_Receive[]=='')//前进
{
forword_flag = ;//前进标志位置一
back_flag = ; //后退标志位置零
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//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[]=='')//后退
{
forword_flag = ;//前进标志位置一
back_flag = ; //后退标志位置零
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后进
}
if(Usart_Receive[]=='')//左右转停止
{
if(forword_flag ==  && back_flag == )//上一次按下的是前进，没松开
{
    //前进
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后进
}
if(forword_flag ==  && back_flag == )//上一次按下的是后退，没松开
{
    //后退
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后进
}
if(forword_flag ==  && back_flag == )//上一次松开了前进或后退
{
    //停止
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后进
}
    }
if(Usart_Receive[]=='')//左转
{
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后退
}
if(Usart_Receive[]=='')//右转
{
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后退
}
if(Usart_Receive[]=='')//停止
{
forword_flag = ;//前进标志位置零
back_flag = ; //后退标志位置零
a1 = ;//前左轮前进
a2 = ;//前左轮后退
a3 = ;//前右轮前进
a4 = ;//前右轮后进
a5 = ;//后左轮前进
a6 = ;//后左轮后退
a7 = ;//后右轮前进
a8 = ;//后右轮后进
}
    }
    }
    }
    }
}

#define _USART_C_
#include "include.h"
unsigned char Usart_Receive[]={};
unsigned char Usart_Cnt=;
bit Usart_AT_flage;
bit flage;
bit Command_Flag;
void InitUART(void)
{
    TMOD = 0x20;
    SCON = 0x50;
    TH1 = 0xFD;
    TL1 = TH1;
    PCON = 0x00;
    EA = ;
    ES = ;
    TR1 = ;
}

void SendOneByte(unsigned char c)
{
        SBUF = c;
        while(!TI);
        TI = ;
}

//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=;
        str++;
    }
}

void UARTInterrupt(void) interrupt
{
    RI=;
    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-]=='\r' && Usart_Receive[Usart_Cnt-]=='\n' && Usart_Cnt >= )
    {
        Usart_Cnt = ;//接收数据计数清零
        Usart_AT_flage = ;//数据接收成功标志位
  }
    else if(Usart_Cnt > )//
    {
        Usart_Cnt = ;
    }
}

#ifndef __USART_H_
#define __USART_H_

#ifndef _USART_C_
#define _USART_ex_ extern
#else
#define _USART_ex_
#endif

_USART_ex_ unsigned char Usart_Receive[];
_USART_ex_ unsigned char Usart_Cnt;
_USART_ex_ bit Usart_AT_flage;
_USART_ex_ bit Command_Flag;
_USART_ex_ unsigned char UsartData;
_USART_ex_ void InitUART(void);//串口初始化
_USART_ex_ void SendOneByte(unsigned char c);//发送字节型数据
_USART_ex_ 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>

下载好程序，接好线，等一会用手机连接就好了，连接成功会显示连接成功

eps8266说是3.3v供电因为我手头没有降压模块也没有二极管所以就直接接的5v供电，不过没有烧，正常工作，就是摸上去有点热。其实程序还有点不够可靠，以后再改进