wifi小车控制端(windows和android)

wnfc · 发表于 2014-8-21 09:54:22

找到了，不过和自己的下位机数据包格式不一样，数据包这东西调试起来真是不容易

maxrdnew · 发表于 2014-8-21 11:39:46

支持，正好学习下

wnfc · 发表于 2014-8-21 14:31:07

好不容易调试好了，不过小车运动明显有延迟啊，不知道是不是可以修改线程睡眠那里的时间，不过改了还是会出现按键无反应，有时候一按会连续运动，即使按键弹起。我把最后部分代码贴出来，烦请高手指点一下，谢谢!

private Runnable mRunnable = new Runnable()
{
public void run()
{
while(true)
{
if(Send_CMD_Status==0)
{
try
{
Thread.sleep(50);
//Thread.sleep(1);
} catch (InterruptedException e)
{
// TODO Auto-generated catch block
e.printStackTrace();
}
continue;
}
if(Send_CMD_Status>0) Send_CMD_Status--;

if(Cam_Reset_Status==2)
{
Cam_Reset_Status = 1;

CmdBuffer[1] = (byte)0x01;
CmdBuffer[2] = (byte)0x02;
Cam_UpDown = 0x7B;
CmdBuffer[3] = (byte)Cam_UpDown;
}
else if(Cam_Reset_Status==1)
{
Cam_Reset_Status = 0;

CmdBuffer[1] = (byte)0x01;
CmdBuffer[2] = (byte)0x01;
Cam_LeftRight = 0x5A;
CmdBuffer[3] = (byte)Cam_LeftRight;

}
else
{
Cam_Reset_Status = 0;
}

try
{
//连接服务器
mSocketClient = new Socket(CtrlIp,Integer.parseInt(CtrlPort));
//取得输入、输出流
//mBufferedReaderClient = new BufferedReader(new InputStreamReader(mSocketClient.getInputStream()));
//mPrintWriterClient = new PrintWriter(mSocketClient.getOutputStream(), true);
mSocketClient.getOutputStream().write(CmdBuffer);
//mSocketClient.getOutputStream().write(CmdBuffer);
mSocketClient.close();

// Thread.sleep(100);
Thread.sleep(10);
}
catch (Exception ex)
{
mSocketClient = null;
}

}

}
};

wnfc · 发表于 2014-8-21 14:32:34

补充一下车子前进后退部分的指令发送代码吧，这样大家看的清楚些

BackWard.setOnTouchListener(new View.OnTouchListener()
{
public boolean onTouch(View v, MotionEvent event)
{
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
        CmdBuffer[1] = (byte)0x00;
CmdBuffer[2] = (byte)0x02;
CmdBuffer[3] = (byte)0x00;
Send_CMD_Status = -1;
        break;
case MotionEvent.ACTION_UP:
CmdBuffer[1] = (byte)0x00;
CmdBuffer[2] = (byte)0x00;
CmdBuffer[3] = (byte)0x00;
Send_CMD_Status = 1;
break;
default:
break;
}
return false;
}
});

ForWard.setOnTouchListener(new View.OnTouchListener()
{
public boolean onTouch(View v, MotionEvent event)
{
int action = event.getAction();
switch(action)
{
case MotionEvent.ACTION_DOWN:
        //mPrintWriterClient.print("W");
        CmdBuffer[1] = (byte)0x00;
CmdBuffer[2] = (byte)0x01;
CmdBuffer[3] = (byte)0x00;
Send_CMD_Status = -1;
        break;
case MotionEvent.ACTION_UP:
CmdBuffer[1] = (byte)0x00;
CmdBuffer[2] = (byte)0x00;
CmdBuffer[3] = (byte)0x00;
Send_CMD_Status = 1;
break;
default:
break;
}
return false;
}
});