硬件清单：
Wemos D1（支持AP模式也就是路由模式和STA模式也就是上网设备）、超声波模块、小车、L9110s步进电机控制器
软件：
eclipse、arduino IDE

WiFi配置参考博文

ESP8266WiFi库:
在这里插入图片描述
从上图中可以看出ESP8266WiFi库主要包含Station、Soft AP、config、WiFiClient、WiFiServer、scan、hostname，本节主要介绍Station相关的函数使用。

在这里插入图片描述

动态IP方式连接WiFi热点

#include "ESP8266WiFi.h"
char* ssid = "sand";
char* passwd = "12345678";
void setup() {
  Serial.begin(115200);
  // Set WiFi to station mode
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  while (WiFi.status() != WL_CONNECTED)
  {
    delay(500);
    Serial.println("connecting......");
  }
  Serial.println("Connect to router successfully!");
  Serial.println(String("mac address is ")+WiFi.macAddress());
}
void loop() {
  if (WiFi.status() == WL_CONNECTED)
  {
    Serial.println("Connect to router success");
    Serial.println(String("Subnet mask is ")+WiFi.subnetMask().toString());
    Serial.println(String("gatewayIP address is ")+WiFi.gatewayIP().toString());
    Serial.println(String("dnsIP address is ")+WiFi.dnsIP().toString());
    Serial.println(String("SSID is ") + WiFi.SSID());
    Serial.println(String("PSK is ") + WiFi.psk());
    Serial.println(String("BSSID is ") + WiFi.BSSIDstr());
    Serial.println(String("RSSI is ") + WiFi.RSSI());
    Serial.println(WiFi.localIP());
  }else
  {
    Serial.println("Connect to router failed");  
  }
  // Wait a bit before scanning again
  delay(1000);
}

串口输出如下：

Connect to router success
Subnet mask is 255.255.255.0
gatewayIP address is 192.168.43.1
dnsIP address is 192.168.43.1
SSID is HUAWEI
PSK is FHN12345
BSSID is F4:63:1F:7D:AB:69
RSSI is -51
192.168.43.5//这个是想要固定的IP地址

Wemos作为设备动态接入WiFi：

#include <ESP8266WiFi.h>
char *ssid="HUAWEI";
char *passwd="FHN12345";
void initWifiSta()//wifi初始化函数
{
  WiFi.mode(WIFI_STA);//设置STA模式
  WiFi.begin(ssid,passwd);//连接网络
  while(WiFi.status()!=WL_CONNECTED)//判断是否接入WiFi，如果接入WiFi.status()=WL_CONNECTED
  {
    Serial.print(".");
    delay(500);
    Serial.println(WiFi.localIP());//通过串口打印wemos的IP地址
    delay(500);
  }
}
void setup() {
  Serial.begin(115200);
  initWifiSta();
}

void loop() {
    Serial.println(WiFi.localIP());
    delay(500);
}

Wemos作为设备静态接入WiFi：

#include "ESP8266WiFi.h"
char* ssid = "HUAWEI";
char* passwd = "FHN12345";
IPAddress local_static_ip(192,168,43,5);
IPAddress local_gateway(192,168,43,1);
IPAddress local_subnet(255,255,255,0);
IPAddress local_dns_ip(192,168,43,1);
void setup() {
  Serial.begin(115200);
  // Set WiFi to station mode
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  WiFi.config(local_static_ip, local_gateway, local_subnet, local_dns_ip);
  while (WiFi.status() != WL_CONNECTED)
  {
    delay(500);
    Serial.println("connecting......");
  }
  Serial.println("Connect to router successfully!");
  Serial.println(String("mac address is ")+WiFi.macAddress());
}
void loop() {
  if (WiFi.status() == WL_CONNECTED)
  {
    Serial.println("Connect to router success");
    Serial.println(String("IP address is ")+WiFi.localIP().toString());
    Serial.println(String("Subnet mask is ")+WiFi.subnetMask().toString());
    Serial.println(String("gatewayIP address is ")+WiFi.gatewayIP().toString());
    Serial.println(String("dnsIP address is ")+WiFi.dnsIP().toString());
    Serial.println(String("SSID is ") + WiFi.SSID());
    Serial.println(String("PSK is ") + WiFi.psk());
    Serial.println(String("BSSID is ") + WiFi.BSSIDstr());
    Serial.println(String("RSSI is ") + WiFi.RSSI());
  }else
  {
    Serial.println("Connect to router failed");  
  }
  // Wait a bit before scanning again
  delay(1000);
}

串口打印如下：

Connect to router success
IP address is 192.168.43.5
Subnet mask is 255.255.255.0
gatewayIP address is 192.168.43.1
dnsIP address is 192.168.43.1
SSID is HUAWEI
PSK is FHN12345
BSSID is F4:63:1F:7D:AB:69//MAC
RSSI is -54

研发常说的C/S模式：
其实就是服务器和客户端的关系,服务器两大要素：1、地址（IP地址、域名等）2、端口号：（一台电脑或者设备有多个服务，每个服务用端口号区别）。比如：医院地址就可以类比为服务器地址，不同的科室去不同的地方类比端口号。

编程Wemos服务器，手机TCP工具控制舵机的旋转：

#include <Servo.h>
#include "ESP8266WiFi.h"
#define DuoPin 4
Servo myduoji;
char* ssid = "HUAWEI";
char* passwd = "FHN12345";

int port=4466;//端口号
WiFiServer server(port);//设置服务器端口号，将Wemos作为服务器，为其他设备接入提供端口号,server是自己定义的

IPAddress local_static_ip(192,168,43,5);
IPAddress local_gateway(192,168,43,1);
IPAddress local_subnet(255,255,255,0);
IPAddress local_dns_ip(192,168,43,1);
void setup() {
  Serial.begin(115200);
  // Set WiFi to station mode
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  WiFi.config(local_static_ip, local_gateway, local_subnet, local_dns_ip);
  server.begin();//启动服务器开始服务

  myduoji.attach(DuoPin);//连接舵机
  myduoji.write(98);
}
void loop() {
  char cmd;
  WiFiClient client=server.available();//初始化服务器
  while(client.connected()){//当没有接入的时候client.connected()是0，当接入的时候client.connected()是非零进入循环
      while(client.available()>0){//判断有没有数据的到来
          cmd=client.read();//将命令读取到cmd
          if(cmd=='1'){
              myduoji.write(98);
            }
          else if(cmd=='2'){
              myduoji.write(180);            
            }
        }
    }
}

编程Wemos服务器，手机TCP工具控制电机的旋转：

#include <Servo.h>
#include "ESP8266WiFi.h"
#define DuoPin 4
#define BehindLight1 5
#define BehindLight0 16
#define BehindRight1 0
#define BehindRight0 2

Servo myduoji;
char* ssid = "HUAWEI";
char* passwd = "FHN12345";

int port=4466;//端口号
WiFiServer server(port);//设置服务器端口号，将Wemos作为服务器，为其他设备接入提供端口号,server是自己定义的

IPAddress local_static_ip(192,168,43,5);
IPAddress local_gateway(192,168,43,1);
IPAddress local_subnet(255,255,255,0);
IPAddress local_dns_ip(192,168,43,1);
void initL9()//初始化L9电机驱动模块
{
  pinMode(BehindLight1,OUTPUT);
  pinMode(BehindLight0,OUTPUT);
  pinMode(BehindRight1,OUTPUT);
  pinMode(BehindRight0,OUTPUT);
}
void initSg()
{
   myduoji.write(105); 
}
void forward()
{
  digitalWrite(BehindLight1,HIGH);
  digitalWrite(BehindLight0,LOW);
  digitalWrite(BehindRight1,HIGH);
  digitalWrite(BehindRight0,LOW);
}
void retreat()
{
  digitalWrite(BehindLight1,LOW);
  digitalWrite(BehindLight0,HIGH);
  digitalWrite(BehindRight1,LOW);
  digitalWrite(BehindRight0,HIGH);
}
void Stop()
{
  digitalWrite(BehindLight1,LOW);
  digitalWrite(BehindLight0,LOW);
  digitalWrite(BehindRight1,LOW);
  digitalWrite(BehindRight0,LOW);
}
void setup() {
  Serial.begin(115200);
  // Set WiFi to station mode
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  WiFi.config(local_static_ip, local_gateway, local_subnet, local_dns_ip);
  server.begin();//启动服务器开始服务
  myduoji.attach(DuoPin);//连接舵机
  initSg();
  initL9();
}
void loop() {
  char cmd;
  WiFiClient client=server.available();//初始化服务器
  while(client.connected()){//当没有接入的时候client.connected()是0，当接入的时候client.connected()是非零进入循环
      while(client.available()>0){//判断有没有数据的到来
          cmd=client.read();//将命令读取到cmd
          if(cmd=='1'){
              forward();
              delay(2000);
              Stop();
            }
          else if(cmd=='2'){
              retreat();
              delay(2000);
              Stop();           
            }
        }
    }
    Serial.println(WiFi.localIP());
}

代码的综合实现：

#include <Servo.h>
#include "ESP8266WiFi.h"
#define DuoPin 4
#define BehindLight1 5
#define BehindLight0 16
#define BehindRight1 0
#define BehindRight0 2
#define Beep D5
Servo myduoji;
char* ssid = "HUAWEI";
char* passwd = "FHN12345";

int port = 4466; //端口号
WiFiServer server(port);//设置服务器端口号，将Wemos作为服务器，为其他设备接入提供端口号,server是自己定义的

IPAddress local_static_ip(192, 168, 43, 5);
IPAddress local_gateway(192, 168, 43, 1);
IPAddress local_subnet(255, 255, 255, 0);
IPAddress local_dns_ip(192, 168, 43, 1);
void initL9()//初始化L9电机驱动模块
{
  pinMode(BehindLight1, OUTPUT);
  pinMode(BehindLight0, OUTPUT);
  pinMode(BehindRight1, OUTPUT);
  pinMode(BehindRight0, OUTPUT);
}
void initSg()
{
  myduoji.write(105);
}
void forward()
{
  digitalWrite(BehindLight1, HIGH);
  digitalWrite(BehindLight0, LOW);
  digitalWrite(BehindRight1, HIGH);
  digitalWrite(BehindRight0, LOW);
}
void retreat()
{
  digitalWrite(BehindLight1, LOW);
  digitalWrite(BehindLight0, HIGH);
  digitalWrite(BehindRight1, LOW);
  digitalWrite(BehindRight0, HIGH);
}
void Stop()
{
  digitalWrite(BehindLight1, LOW);
  digitalWrite(BehindLight0, LOW);
  digitalWrite(BehindRight1, LOW);
  digitalWrite(BehindRight0, LOW);
}
void Lift()
{
  myduoji.write(135);
}
void Right()
{
  myduoji.write(75);
}
void initBeep()
{
  pinMode(Beep, OUTPUT);
  digitalWrite(Beep, HIGH);
}
void Bee()
{
  while (WiFi.status() != WL_CONNECTED) //判断是否接入WiFi，如果接入WiFi.status()=WL_CONNECTED
  {
    digitalWrite(Beep, LOW);
    delay(1000);
    digitalWrite(Beep, HIGH);
    delay(1000);
  }
}
void setup() {
  Serial.begin(115200);
  // Set WiFi to station mode
  WiFi.mode(WIFI_STA);
  WiFi.begin(ssid, passwd);
  WiFi.config(local_static_ip, local_gateway, local_subnet, local_dns_ip);
  server.begin();//启动服务器开始服务
  myduoji.attach(DuoPin);//连接舵机
  initBeep();
  initSg();
  initL9();
  
}
void loop() {
  char cmd;
  Bee();//如果处于未连接状态，蜂鸣器响
  WiFiClient client = server.available(); //初始化服务器
  while (client.connected()) { //当没有接入的时候client.connected()是0，当接入的时候client.connected()是非零进入循环
    while (client.available() > 0) { //判断有没有数据的到来
      cmd = client.read(); //将命令读取到cmd
      switch (cmd) {
        case'q':
          forward();
          break;
        case'h':
          retreat();
          break;
        case'z':
          Lift();
          break;
        case'y':
          Right();
          break;
        case's':
          Stop();
          break;
        case'd':
          initSg();
          break;
      }
    }
  }
  Serial.println(WiFi.localIP());
}

安卓app的设置：

  • 导入工程文件

  • ① 在这里插入图片描述

  • ②
    在这里插入图片描述

  • ③
    在这里插入图片描述

  • ④在电脑的模拟器上面运行
    在这里插入图片描述

  • ⑤如果不能在虚拟机上运行，则按以下步骤执行，打开Eclipse的路径找到platform-tools
    在这里插入图片描述

  • ⑥找到SDK
    在这里插入图片描述

  • ⑦找到adb.exe并复制路径
    在这里插入图片描述

  • ⑧找到对应的盘，输入adb的路径，dir查看路径下的文件。并输入adb connect 127.0.0.1:62001，这里127.0.0.1是本机地址，62001是模拟器端口号。
    在这里插入图片描述
    在这里插入图片描述

将程序发送到手机：程序在bin文件夹下面。

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