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android蓝牙遥控车

作者：知新_RL | 2024-03-12 18:40:25

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android蓝牙遥控车

写了上一篇的，就一不做，二不休的把今天才完成的自制的蓝牙遥控车吧，


咱分两步走第一部分是Android 方面的，第二是硬件Zigbee方面的。

先说Android方面的，


上源代码吧：

一、Android部分
我的代码运行顺序是先是WelcomActivity，过两秒后然后进入MainActivity,在这里配对成功后进入CMDActivity

1.1、布局方面的代码，为了美观把平常写的UI美化了一下。

1.11、activity_welcome.xml

  1. <?xml version="1.0" encoding="utf-8"?>
  2. <RelativeLayout
  3.     xmlns:android="http://schemas.android.com/apk/res/android"
  4.     xmlns:tools="http://schemas.android.com/tools"
  5.     android:layout_width="match_parent"
  6.     android:layout_height="match_parent"
  7.     android:paddingBottom="@dimen/activity_vertical_margin"
  8.     android:paddingLeft="@dimen/activity_horizontal_margin"
  9.     android:paddingRight="@dimen/activity_horizontal_margin"
  10.     android:screenOrientation="landscape"
  11.     android:paddingTop="@dimen/activity_vertical_margin"
  12.     android:background="@drawable/hengping"
  13.     tools:context="com.example.hejingzhou.bluetoothtoydemo.WelcomeActivity">
  14.  
  15. </RelativeLayout><span style="color:#660000;">
  16. </span>
对应的java 

  1. <span style="color:#660000;">package com.example.hejingzhou.bluetoothtoydemo;
  2.  
  3. </span>import android.content.Intent;
  4. import android.os.Handler;
  5. import android.support.v7.app.AppCompatActivity;
  6. import android.os.Bundle;
  7. import android.view.Window;
  8.  
  9. public class WelcomeActivity extends AppCompatActivity {
  10.  
  11.     private Handler handler;
  12.     @Override
  13.     protected void onCreate(Bundle savedInstanceState) {
  14.         super.onCreate(savedInstanceState);
  15.         setContentView(R.layout.activity_welcome);
  16.  
  17.         handler = new Handler();
  18.         handler.postDelayed(newRun,3000);
  19.     }
  20.     private Runnable newRun = new Runnable() {
  21.         @Override
  22.         public void run() {
  23.             startActivity(new Intent(WelcomeActivity.this,MainActivity.class));
  24.             finish();
  25.         }
  26.     };
  27. }<span style="color:#660000;">
  28. </span>

 //***************//**************//**********//**************//*****************//*****************//****************//******************//****************//

1.12、activity_main


  1. <?xml version="1.0" encoding="utf-8"?>
  2. <RelativeLayout
  3.     xmlns:android="http://schemas.android.com/apk/res/android"
  4.     xmlns:tools="http://schemas.android.com/tools"
  5.     android:layout_width="match_parent"
  6.     android:layout_height="match_parent"
  7.     android:paddingBottom="@dimen/activity_vertical_margin"
  8.     android:paddingLeft="@dimen/activity_horizontal_margin"
  9.     android:paddingRight="@dimen/activity_horizontal_margin"
  10.     android:screenOrientation="landscape"
  11.     android:paddingTop="@dimen/activity_vertical_margin"
  12.     android:background="@drawable/q2"
  13.     tools:context="com.example.hejingzhou.bluetoothtoydemo.MainActivity">
  14.  
  15.  
  16.     <Button
  17.         android:layout_width="wrap_content"
  18.         android:layout_height="wrap_content"
  19.         android:text="允许对外可见"
  20.         android:id="@+id/buttonvisual"
  21.         android:textColor="#820041"
  22.         android:background="@drawable/shape"
  23.         android:layout_marginTop="35dp"
  24.         android:layout_alignParentTop="true"
  25.         android:layout_alignParentLeft="true"
  26.         android:layout_alignParentStart="true"/>
  27.  
  28.     <Button
  29.         android:layout_width="wrap_content"
  30.         android:layout_height="wrap_content"
  31.         android:text="搜索其他设备"
  32.         android:id="@+id/buttonsearch"
  33.         android:background="@drawable/shape_2"
  34.         android:textColor="#003e3e"
  35.         android:layout_alignTop="@+id/buttonvisual"
  36.         android:layout_toRightOf="@+id/buttonvisual"
  37.         android:layout_toEndOf="@+id/buttonvisual"
  38.         android:layout_marginLeft="49dp"
  39.         android:layout_marginStart="49dp"/>
  40.  
  41.     <ImageView
  42.         android:layout_width="60dp"
  43.         android:layout_height="60dp"
  44.         android:id="@+id/imageViewExit"
  45.         android:layout_alignParentBottom="true"
  46.         android:layout_alignParentRight="true"
  47.         android:layout_alignParentEnd="true"
  48.         android:layout_marginRight="38dp"
  49.         android:layout_marginEnd="38dp"
  50.         android:src="@drawable/exit"
  51.         android:layout_marginBottom="42dp"/>
  52.  
  53.     <ListView
  54.         android:layout_width="wrap_content"
  55.         android:layout_height="wrap_content"
  56.         android:id="@+id/listView"
  57.         android:layout_alignParentLeft="true"
  58.         android:layout_alignParentStart="true"
  59.         android:layout_below="@+id/buttonvisual"
  60.         android:layout_toLeftOf="@+id/imageViewExit"
  61.         android:layout_toStartOf="@+id/imageViewExit"/>
  62.  
  63. </RelativeLayout>
上边这个布局所用到的 
@dimen
写到@drawable文件夹内是针对Button的圆角处理的
详情是这样的 
  1. <?xml version="1.0" encoding="UTF-8"?>
  2. <shape xmlns:android="http://schemas.android.com/apk/res/android"
  3.        android:shape="rectangle" >
  4.  
  5. <!-- 填充的颜色：这里设置背景透明 -->
  6. <solid android:color="@android:color/transparent" />
  7. <!-- 边框的颜色 ：不能和窗口背景色一样-->
  8. <stroke
  9.     android:width="3dp"
  10.     android:color="#930093" />
  11. <!-- 设置按钮的四个角为弧形 -->
  12. <!-- android:radius 弧形的半径 -->
  13. <corners android:radius="5dip" />
  14.  
  15. <!-- padding：Button里面的文字与Button边界的间隔 -->
  16. <padding
  17.     android:bottom="10dp"
  18.     android:left="10dp"
  19.     android:right="10dp"
  20.     android:top="10dp" />
  21. </shape>
对应的java                                                                                                                                                                                                                                                                                                                         
  1. <span style="color:#660000;">package com.example.hejingzhou.bluetoothtoydemo;
  2.  
  3. </span>import android.bluetooth.BluetoothAdapter;
  4. import android.bluetooth.BluetoothDevice;
  5. import android.bluetooth.BluetoothServerSocket;
  6. import android.bluetooth.BluetoothSocket;
  7. import android.content.BroadcastReceiver;
  8. import android.content.Context;
  9. import android.content.Intent;
  10. import android.content.IntentFilter;
  11. import android.os.*;
  12. import android.os.Process;
  13. import android.support.v7.app.AppCompatActivity;
  14. import android.util.Log;
  15. import android.view.View;
  16. import android.widget.AdapterView;
  17. import android.widget.ArrayAdapter;
  18. import android.widget.Button;
  19. import android.widget.ImageView;
  20. import android.widget.ListView;
  21. import android.widget.Toast;
  22.  
  23. import java.io.IOException;
  24. import java.lang.reflect.InvocationTargetException;
  25. import java.lang.reflect.Method;
  26. import java.util.ArrayList;
  27. import java.util.List;
  28. import java.util.UUID;
  29.  
  30. public class MainActivity extends AppCompatActivity {
  31.  
  32.     private Handler handler;
  33.  
  34.     private Button ButVisual,ButSearchDevice;
  35.     private ImageView imageExit;
  36.     private ListView listView;
  37.  
  38.     static final String SPP_UUID = "00001101-0000-1000-8000-00805F9B34FB";
  39.     private UUID uuid;
  40.  
  41.     private ArrayAdapter<String> adapterDevices;
  42.     private List<String> listDevices = new ArrayList<String>();
  43.  
  44.     private BluetoothAdapter bluetoothAdapter;
  45.  
  46.     public static BluetoothSocket socket = null;
  47.     public static BluetoothSocket bluetoothSocket;
  48.     public static AcceptThread acceptThread;
  49.  
  50.     @Override
  51.     protected void onCreate(Bundle savedInstanceState) {
  52.         super.onCreate(savedInstanceState);
  53.         setContentView(R.layout.activity_main);
  54.  
  55.         bluetoothAdapter = BluetoothAdapter.getDefaultAdapter();
  56.         uuid = UUID.fromString(SPP_UUID);
  57.  
  58.         findViewById();
  59.         InitBlueTooth();
  60.         click();
  61.     }
  62.  
  63.     /**
  64.      * 单击监听
  65.      */
  66.     private void click() {
  67.         ButVisual.setOnClickListener(new View.OnClickListener() {
  68.             @Override
  69.             public void onClick(View v) {
  70.                 Intent discoverableIntent = new Intent(
  71.                         BluetoothAdapter.ACTION_REQUEST_DISCOVERABLE);
  72.                 discoverableIntent.putExtra(
  73.                         BluetoothAdapter.EXTRA_DISCOVERABLE_DURATION,300);
  74.                 startActivity(discoverableIntent);
  75.             }
  76.         });
  77.         ButSearchDevice.setOnClickListener(new View.OnClickListener() {
  78.             @Override
  79.             public void onClick(View v) {
  80.                 if (bluetoothAdapter.getState() == BluetoothAdapter.STATE_OFF) {
  81.                     Toast.makeText(MainActivity.this, "请您打开蓝牙", Toast.LENGTH_SHORT).show();
  82.                     return;
  83.                 }
  84.                 //setTitle("本设备蓝牙地址" + bluetoothAdapter.getAddress());
  85.                 listDevices.clear();
  86.                 bluetoothAdapter.startDiscovery();
  87.             }
  88.         });
  89.         imageExit.setOnClickListener(new View.OnClickListener() {
  90.             @Override
  91.             public void onClick(View v) {
  92.                 if (bluetoothSocket != null)
  93.                     try {
  94.                         bluetoothSocket.close();
  95.                     } catch (IOException e) {
  96.                         e.printStackTrace();
  97.                     }
  98.                 MainActivity.this.finish();
  99.             }
  100.         });
  101.     }
  102.  
  103.     private void findViewById() {
  104.         ButVisual = (Button)findViewById(R.id.buttonvisual);
  105.         ButSearchDevice = (Button)findViewById(R.id.buttonsearch);
  106.         imageExit = (ImageView)findViewById(R.id.imageViewExit);
  107.         listView = (ListView)findViewById(R.id.listView);
  108.  
  109.         adapterDevices = new ArrayAdapter<String>(MainActivity.this,android.R.layout.simple_list_item_1,listDevices);
  110.         listView.setAdapter(adapterDevices);
  111.         listView.setOnItemClickListener(new ItemClickEvent());
  112.     }
  113.  
  114.     /**
  115.      * 初始化蓝牙
  116.      */
  117.     private void InitBlueTooth(){
  118.  
  119.  
  120.         if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_ON)
  121.         {
  122.             //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
  123.             handler = new Handler()
  124.             {
  125.                public void HanMessage(Message message)
  126.                {
  127.                    switch (message.what)
  128.                    {
  129.                        case  0:
  130.                            acceptThread = new AcceptThread();
  131.                            acceptThread.start();//开启线程的时候出错
  132.                    }
  133.                }
  134.             };
  135.                 IntentFilter intentFilter = new IntentFilter();
  136.                 intentFilter.addAction(BluetoothDevice.ACTION_FOUND);
  137.                 intentFilter.addAction(BluetoothDevice.ACTION_BOND_STATE_CHANGED);
  138.                 intentFilter.addAction(BluetoothAdapter.ACTION_SCAN_MODE_CHANGED);
  139.                 intentFilter.addAction(BluetoothAdapter.ACTION_STATE_CHANGED);
  140.                 registerReceiver(searchDevices, intentFilter);
  141.  
  142.         } else if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_OFF)
  143.         {
  144.             bluetoothAdapter.enable();
  145.             try {
  146.                 Thread.sleep(1000);
  147.             }
  148.           /*  try {
  149.                 if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_ON)
  150.                 {
  151.                     Toast.makeText(MainActivity.this,"已打开蓝牙",Toast.LENGTH_SHORT).show();
  152.                     //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\
  153.                     handler = new Handler()
  154.                     {
  155.                         public void HanMessage(Message message)
  156.                         {
  157.                             switch (message.what)
  158.                             {
  159.                                 case  0:
  160.                                     acceptThread = new AcceptThread();
  161.                                     acceptThread.start();//开启线程的时候出错
  162.                             }
  163.                         }
  164.                     };
  165.                     IntentFilter intentFilter = new IntentFilter();
  166.                     intentFilter.addAction(BluetoothDevice.ACTION_FOUND);
  167.                     intentFilter.addAction(BluetoothDevice.ACTION_BOND_STATE_CHANGED);
  168.                     intentFilter.addAction(BluetoothAdapter.ACTION_SCAN_MODE_CHANGED);
  169.                     intentFilter.addAction(BluetoothAdapter.ACTION_STATE_CHANGED);
  170.                     registerReceiver(searchDevices, intentFilter);
  171.                 }else
  172.                 {
  173.                     Toast.makeText(MainActivity.this,"蓝牙打开失败，请手动打开",Toast.LENGTH_SHORT).show();
  174.                     return;
  175.                 }
  176.             }*/ catch (Exception e) {
  177.                 Toast.makeText(MainActivity.this,"STATE_OFF注册错误",Toast.LENGTH_SHORT).show();
  178.  
  179.             }
  180.             } /*catch (InterruptedException e) {
  181.                 e.printStackTrace();
  183.         }*/
  184.     }
  185.  
  186.     /**
  187.      * 管理蓝牙连接套接口
  188.      */
  189.     private void manageConnectedSocket()
  190.     {
  191.         bluetoothSocket = socket;
  192.         startActivity(new Intent(MainActivity.this,CMDActivity.class));
  193.     }
  194.  
  195.     /**
  196.      * BroadcastReceiver基类代码,将收到发送的意图sendBroadcast()。
  197.      */
  198.     private BroadcastReceiver searchDevices = new BroadcastReceiver() {
  199.         @Override
  200.         public void onReceive(Context context, Intent intent) {
  201.             String action = intent.getAction();
  202.             Bundle bundle = intent.getExtras();
  203.             Object[] objectName = bundle.keySet().toArray();
  204.  
  205.             //显示详细的消息细节
  206.             for(int i = 0;i<objectName.length;i++)
  207.             {
  208.                 String keyName = objectName[i].toString();
  209.                 Log.e(keyName,String.valueOf(bundle.get(keyName)));
  210.             }
  211.             //搜索到设备时
  212.             if(BluetoothDevice.ACTION_FOUND.equals(action))
  213.             {
  214.                 BluetoothDevice device = intent.getParcelableExtra(BluetoothDevice.EXTRA_DEVICE);
  215.                 String str = device.getName()+"|"+device.getAddress();
  216.                 if(listDevices.indexOf(str) == -1 )
  217.                 {
  218.                     listDevices.add(str);
  219.                 }
  220.                 adapterDevices.notifyDataSetChanged();//每次改变就刷新
  221.             }
  222.         }
  223.     };
  224.  
  225.     @Override
  226.     protected void onDestroy() {
  227.         this.unregisterReceiver(searchDevices);//取消注册量
  228.         super.onDestroy();
  229.         android.os.Process.killProcess(Process.myPid());
  230.         acceptThread.cancel();
  231.         acceptThread.destroy();
  232.     }
  233.  
  234.     class ItemClickEvent implements AdapterView.OnItemClickListener
  235.     {
  236.  
  237.         @Override
  238.         public void onItemClick(AdapterView<?> parent, View view, int position, long id) {
  239.             String str = listDevices.get(position);
  240.             String[] values = str.split("\\|");
  241.             String address = values[1];
  242.             Log.e("address",values[1]);
  243.  
  244.             uuid = UUID.fromString(SPP_UUID);
  245.             Log.e("uuid",uuid.toString());
  246.             BluetoothDevice bluetoothDevice = bluetoothAdapter.getRemoteDevice(address);
  247.  
  248.             Method method;
  249.  
  250.             try {
  251.                 method = bluetoothDevice.getClass().getMethod("createRfcommSocket",new Class[] {int.class});
  252.                 bluetoothSocket = (BluetoothSocket)method.invoke(bluetoothDevice,Integer.valueOf(1));
  253.             } catch (NoSuchMethodException e) {
  254.                 e.printStackTrace();
  255.             } catch (InvocationTargetException e) {
  256.                 e.printStackTrace();
  257.             } catch (IllegalAccessException e) {
  258.                 e.printStackTrace();
  259.             }
  260.  
  261.             bluetoothAdapter.cancelDiscovery();
  262.             try {
  263.                 bluetoothSocket.connect();
  264.                 startActivity(new Intent(MainActivity.this,CMDActivity.class));
  265.             } catch (IOException e) {
  266.                 e.printStackTrace();
  267.             }
  268.  
  269.         }
  270.     }
  271.  
  272.     class AcceptThread extends Thread
  273.     {
  274.         private final BluetoothServerSocket serverSocket;
  275.  
  276.         public AcceptThread()
  277.         {
  278.             BluetoothServerSocket tmp = null;
  279.             try {
  280.                 Method listenMethod = bluetoothAdapter.getClass().getMethod("listenUsingRfcommOn",new Class[]{int.class});
  281.                 tmp = (BluetoothServerSocket)listenMethod.invoke(bluetoothAdapter,Integer.valueOf(1));
  282.             } catch (NoSuchMethodException e) {
  283.                 e.printStackTrace();
  284.             } catch (InvocationTargetException e) {
  285.                 e.printStackTrace();
  286.             } catch (IllegalAccessException e) {
  287.                 e.printStackTrace();
  288.             }
  289.             serverSocket = tmp;
  290.         }
  291.  
  292.         public void run()
  293.         {
  294.             while(true)
  295.             {
  296.                 try {
  297.                     socket = serverSocket.accept();
  298.                 } catch (IOException e) {
  299.                     break;
  300.                 }
  301.                 if(socket != null)
  302.                 {
  303.                     manageConnectedSocket();
  304.                     try {
  305.                         serverSocket.close();
  306.                     } catch (IOException e) {
  307.                         e.printStackTrace();
  308.                     }
  309.                     break;
  310.                 }
  311.             }
  312.             Message message = new Message();
  313.             message.what = 0;
  314.             handler.sendMessage(message);
  315.         }
  316.         //将取消监听套接字,导致线程结束
  317.         public void cancel()
  318.         {
  319.             try {
  320.                 serverSocket.close();
  321.             } catch (IOException e) {
  322.                 e.printStackTrace();
  323.             }
  324.         }
  325.  
  326.     }
  327.  
  328. }<span style="color:#660000;">
  329. </span>

//***************//**************//**********//**************//*****************//*****************//****************//******************//****************//

                                                                                                                             1.13、activity_cmd.xml

  1. <?xml version="1.0" encoding="utf-8"?>
  2. <RelativeLayout
  3.     xmlns:android="http://schemas.android.com/apk/res/android"
  4.     xmlns:tools="http://schemas.android.com/tools"
  5.     android:layout_width="match_parent"
  6.     android:layout_height="match_parent"
  7.     android:paddingBottom="@dimen/activity_vertical_margin"
  8.     android:paddingLeft="@dimen/activity_horizontal_margin"
  9.     android:paddingRight="@dimen/activity_horizontal_margin"
  10.     android:paddingTop="@dimen/activity_vertical_margin"
  11.     android:background="@drawable/www"
  12.     tools:context="com.example.hejingzhou.bluetoothtoydemo.CMDActivity">
  13.  
  14.     <ImageButton
  15.         android:layout_width="60dp"
  16.         android:layout_height="60dp"
  17.         android:id="@+id/imageButtonShang"
  18.         android:background="@drawable/shang"
  19.         android:layout_marginLeft="19dp"
  20.         android:layout_marginStart="19dp"
  21.         android:layout_above="@+id/imageButtonYuan"
  22.         android:layout_toRightOf="@+id/imageButtonZuo"
  23.         android:layout_toEndOf="@+id/imageButtonZuo"
  24.         android:layout_marginBottom="25dp"/>
  25.  
  26.     <ImageButton
  27.         android:layout_width="60dp"
  28.         android:layout_height="60dp"
  29.         android:id="@+id/imageButtonXia"
  30.         android:background="@drawable/xia"
  31.         android:layout_marginTop="25dp"
  32.         android:layout_below="@+id/imageButtonZuo"
  33.         android:layout_alignLeft="@+id/imageButtonYuan"
  34.         android:layout_alignStart="@+id/imageButtonYuan"/>
  35.  
  36.     <ImageButton
  37.         android:layout_width="60dp"
  38.         android:layout_height="60dp"
  39.         android:id="@+id/imageButtonZuo"
  40.         android:background="@drawable/zuo"
  41.         android:layout_centerVertical="true"
  42.         android:layout_alignParentLeft="true"
  43.         android:layout_alignParentStart="true"/>
  44.  
  45.     <ImageButton
  46.         android:layout_width="60dp"
  47.         android:layout_height="60dp"
  48.         android:id="@+id/imageButtonYou"
  49.         android:background="@drawable/you"
  50.         android:layout_marginLeft="23dp"
  51.         android:layout_marginStart="23dp"
  52.         android:layout_above="@+id/imageButtonXia"
  53.         android:layout_toRightOf="@+id/imageButtonShang"
  54.         android:layout_toEndOf="@+id/imageButtonShang"/>
  55.  
  56.     <ImageButton
  57.         android:layout_width="60dp"
  58.         android:layout_height="60dp"
  59.         android:id="@+id/imageButtonYuan"
  60.         android:background="@drawable/yuan"
  61.         android:layout_above="@+id/imageButtonXia"
  62.         android:layout_toLeftOf="@+id/imageButtonYou"
  63.         android:layout_toStartOf="@+id/imageButtonYou"/>
  64.  
  65.     <ImageButton
  66.         android:layout_width="wrap_content"
  67.         android:layout_height="wrap_content"
  68.         android:id="@+id/imageButtondisconnect"
  69.         android:src="@drawable/duankai"
  70.         android:background="#00000000"
  71.         android:layout_marginRight="107dp"
  72.         android:layout_marginEnd="107dp"
  73.         android:layout_alignBottom="@+id/imageButtonXia"
  74.         android:layout_alignParentRight="true"
  75.         android:layout_alignParentEnd="true"/>
  76.  
  77.     <ImageButton
  78.         android:layout_width="40dp"
  79.         android:layout_height="40dp"
  80.         android:id="@+id/imageButtonLight"
  81.         android:src="@drawable/dengpao"
  82.         android:background="#00000000"
  83.         android:layout_marginRight="30dp"
  84.         android:layout_marginEnd="30dp"
  85.         android:layout_alignTop="@+id/imageButtondisconnect"
  86.         android:layout_toLeftOf="@+id/imageButtondisconnect"
  87.         android:layout_toStartOf="@+id/imageButtondisconnect"/>
  88.  
  89.     <ImageButton
  90.         android:layout_width="wrap_content"
  91.         android:layout_height="wrap_content"
  92.         android:id="@+id/imageButtonBACK"
  93.         android:background="@drawable/fanhui"
  94.         android:layout_marginRight="32dp"
  95.         android:layout_marginEnd="32dp"
  96.         android:layout_alignBottom="@+id/imageButtonLight"
  97.         android:layout_alignParentRight="true"
  98.         android:layout_alignParentEnd="true"/>
  99.  
  100. </RelativeLayout><span style="color:#660000;">
  101. </span>

对应的JAVA 

  1. <span style="color:#660000;">package com.example.hejingzhou.bluetoothtoydemo;
  2.  
  3. </span>import android.os.Handler;
  4. import android.os.Message;
  5. import android.support.v7.app.AppCompatActivity;
  6. import android.os.Bundle;
  7. import android.view.MotionEvent;
  8. import android.view.View;
  9. import android.widget.CompoundButton;
  10. import android.widget.ImageButton;
  11. import android.widget.TextView;
  12. import android.widget.Toast;
  13.  
  14. import java.io.IOException;
  15. import java.io.InputStream;
  16. import java.io.OutputStream;
  17. import java.io.UnsupportedEncodingException;
  18.  
  19. public class CMDActivity extends AppCompatActivity {
  20.  
  21.     public static boolean isRecording = false;
  22.     private ImageButton IBUp;
  23.     private ImageButton IBDown;
  24.     private ImageButton IBLeft;
  25.     private ImageButton IBRight;
  26.     private ImageButton IBYuan;
  27.     private ImageButton IBLight;
  28.     private ImageButton IBDisconnect;
  29.     private ImageButton IBBack;
  30.     private TextView test;
  31.  
  32.     private OutputStream outputStream = null;
  33.     private Handler handler;
  34.     private ConnectedThread connectedThread;
  35.  
  36.     private String encodeType = "UTF-8";
  37.  
  38.     @Override
  39.     protected void onCreate(Bundle savedInstanceState) {
  40.         super.onCreate(savedInstanceState);
  41.         setContentView(R.layout.activity_cmd);
  42.         findViewById();
  43.         click();
  44.         connectedThread = new ConnectedThread();
  45.         handler = new MyHandler();
  46.         connectedThread.Start();
  47.     }
  48.  
  49.     private void click() {
  50.  
  51.         IBBack.setOnClickListener(new View.OnClickListener() {
  52.             @Override
  53.             public void onClick(View v) {
  54.                 CMDActivity.this.finish();
  55.             }
  56.         });
  57.  
  58.         IBDisconnect.setOnClickListener(new View.OnClickListener() {
  59.             @Override
  60.             public void onClick(View v) {
  61.                 try {
  62.                     MainActivity.bluetoothSocket.close();
  63.                 } catch (IOException e) {
  64.                     e.printStackTrace();
  65.                 }
  66.                 connectedThread.Stop();
  67.             }
  68.         });
  69.  
  70.         IBUp.setOnTouchListener(new View.OnTouchListener() {
  71.             @Override
  72.             public boolean onTouch(View v, MotionEvent event) {
  73.  
  74.                 if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {
  75.                     sendMessage("U0#");
  76.                 } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {
  77.                     sendMessage("U1#");
  78.                 }
  79.                 return false;
  80.             }
  81.         });
  82.         IBDown.setOnTouchListener(new View.OnTouchListener() {
  83.             @Override
  84.             public boolean onTouch(View v, MotionEvent event) {
  85.  
  86.                 if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {
  87.                     sendMessage("U0#");
  88.                 } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {
  89.                     sendMessage("U1");
  90.                 }
  91.                 return false;
  92.             }
  93.         });
  94.         IBLeft.setOnTouchListener(new View.OnTouchListener() {
  95.             @Override
  96.             public boolean onTouch(View v, MotionEvent event) {
  97.  
  98.                 if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {
  99.                     sendMessage("30");
  100.                 } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {
  101.                     sendMessage("31");
  102.                 }
  103.                 return false;
  104.             }
  105.         });
  106.         IBRight.setOnTouchListener(new View.OnTouchListener() {
  107.             @Override
  108.             public boolean onTouch(View v, MotionEvent event) {
  109.  
  110.                 if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {
  111.                     sendMessage("40");
  112.                 } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {
  113.                     sendMessage("41");
  114.                 }
  115.                 return false;
  116.             }
  117.         });
  118.         /*IBLight.setOnTouchListener(new View.OnTouchListener() {
  119.             boolean isClick = false;
  120.             @Override
  121.             public boolean onTouch(View v, MotionEvent event) {
  123.                 if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {
  124.                     sendMessage("L0#");
  125.                     isClick = true;
  127.                 } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {
  128.                     sendMessage("L1#");
  129.                 }
  130.                 return false;
  131.             }
  132.         });*/
  133.         IBLight.setOnClickListener(new View.OnClickListener() {
  134.             int a = 1 ;
  135.             @Override
  136.             public void onClick(View v) {
  137.                 if((a%2==0)==false)
  138.                 {
  139.  
  140.                     sendMessage("L0#");
  141.                 }else if((a%2==0)==true)
  142.  
  143.                 {
  144.                     sendMessage("L1#");
  145.                 }
  146.                 a++;
  147.             }
  148.         });
  149.  
  150.     }
  151.  
  152.     public void sendMessage(String strCmd) {
  153.         try {
  154.             outputStream = MainActivity.bluetoothSocket.getOutputStream();
  155.         } catch (IOException e) {
  156.             e.printStackTrace();
  157.         }
  158.         byte[] msgbuffer = null;
  159.         try {
  160.             msgbuffer = strCmd.getBytes(encodeType);
  161.         } catch (UnsupportedEncodingException e) {
  162.             e.printStackTrace();
  163.         }
  164.  
  165.         try {
  166.             outputStream.write(msgbuffer);
  167.         } catch (IOException e) {
  168.             e.printStackTrace();
  169.         }
  170.     }
  171.  
  172.  
  173.     @Override
  174.     protected void onDestroy() {
  175.         try {
  176.             MainActivity.bluetoothSocket.close();
  177.         } catch (IOException e) {
  178.             e.printStackTrace();
  179.         }
  180.         super.onDestroy();
  181.     }
  182.  
  183.     private void findViewById() {
  184.         IBUp = (ImageButton) findViewById(R.id.imageButtonShang);
  185.         IBDown = (ImageButton) findViewById(R.id.imageButtonXia);
  186.         IBLeft = (ImageButton) findViewById(R.id.imageButtonZuo);
  187.         IBRight = (ImageButton) findViewById(R.id.imageButtonYou);
  188.         IBYuan = (ImageButton) findViewById(R.id.imageButtonYuan);
  189.         IBLight = (ImageButton) findViewById(R.id.imageButtonLight);
  190.         IBBack = (ImageButton)findViewById(R.id.imageButtonBACK);
  191.         IBDisconnect = (ImageButton) findViewById(R.id.imageButtondisconnect);
  192.  
  193.     }
  194.  
  195.     /***
  196.      * 连接线程
  197.      */
  198.     class ConnectedThread extends Thread {
  199.  
  200.         private InputStream inputStream = null;
  201.         private long wait;
  202.         private Thread thread;
  203.  
  204.         public ConnectedThread() {
  205.             isRecording = false;
  206.             this.wait = 50;
  207.             thread = new Thread(new ReadRunnable());
  208.         }
  209.  
  210.         public void Stop() {
  211.             isRecording = false;
  212.         }
  213.  
  214.         public void Start() {
  215.             isRecording = true;
  216.             State state = thread.getState();
  217.             if (state == State.NEW) {
  218.                 thread.start();
  219.             } else thread.resume();
  220.         }
  221.  
  222.         private class ReadRunnable implements Runnable {
  223.  
  224.             @Override
  225.             public void run() {
  226.                 try {
  227.                     inputStream = MainActivity.bluetoothSocket.getInputStream();
  228.                 } catch (IOException e) {
  229.                     e.printStackTrace();
  230.                 }
  231.                 int length = 20;
  232.                 byte[] temp = new byte[length];
  233.                 if (inputStream != null) {
  234.                     try {
  235.                         int len = inputStream.read(temp, 0, length - 1);
  236.                         if (len > 0) {
  237.                             byte[] bluetoothBuff = new byte[len];
  238.                             System.arraycopy(temp, 0, bluetoothBuff, 0, bluetoothBuff.length);
  239.                             String readstr = new String(bluetoothBuff, encodeType);
  240.                         }
  241.                         Thread.sleep(wait);
  242.                     } catch (IOException e) {
  243.                         handler.sendEmptyMessage(00);
  244.                     } catch (InterruptedException e) {
  245.                         e.printStackTrace();
  246.                     }
  247.                 }
  248.  
  249.             }
  250.         }
  251.  
  252.         /**
  253.          * sendMessage
  254.          */
  255.         /*public void sendMessage(String strCmd) {
  256.             try {
  257.                 outputStream = MainActivity.bluetoothSocket.getOutputStream();
  258.             } catch (IOException e) {
  259.                 e.printStackTrace();
  260.             }
  261.             byte[] msgbuffer = null;
  262.             try {
  263.                 msgbuffer = strCmd.getBytes(encodeType);
  264.             } catch (UnsupportedEncodingException e) {
  265.                 e.printStackTrace();
  266.             }
  268.             try {
  269.                 outputStream.write(msgbuffer);
  270.             } catch (IOException e) {
  271.                 e.printStackTrace();
  272.             }
  273.         }*/
  274.     }
  275.  
  276.     private class MyHandler extends Handler {
  277.         @Override
  278.         public void dispatchMessage(Message msg) {
  279.             switch (msg.what) {
  280.                 case 00:
  281.                     isRecording = false;
  282.                     break;
  283.                 case 01:
  284.                     String info = (String) msg.obj;
  285.                     break;
  286.                 default:
  287.                     break;
  288.             }
  289.             super.dispatchMessage(msg);
  290.         }
  291.     }
  292.  
  293. }<span style="color:#660000;">
  294. </span>
//***************//**************//**********//**************//*****************//*****************//****************//******************//****************//

二、Zigbee程序

  1. <span style="color:#009900;">
  2.  
  3. </span>#include <ioCC2530.h>
  4. #include <string.h>
  5.  
  6. #define uint unsigned int
  7. #define uchar unsigned char
  8.  
  9. //定义控制LED灯的端口
  10. #define LED1 P0_6	
  11. #define R1 P2_0
  12. #define In P1_0
  13.  
  14.  
  15.  
  16.  
  17. //函数声明
  18. void Delayms(uint xms);		//延时函数
  19. void InitLed(void);		//初始化
  20. void InitUart();              //初始化串口
  21. void Uart_Send_String(char *Data,int len);
  22. void Infrared(void);
  23.  
  24. char Rxdata[3];
  25. uchar RXTXflag = 1; 
  26. char temp; 
  27. uchar  datanumber = 0;
  28.  
  29. /****************************
  30. //延时函数
  31. *****************************/
  32. void Delayms(uint xms)   //i=xms 即延时i毫秒 (16M晶振时候大约数，32M需要修改，系统不修改默认使用内部16M)
  33. {
  34.  uint i,j;
  35.  for(i=xms;i>0;i--)
  36.    for(j=587;j>0;j--);
  37. } 
  38.  
  39. /****************************
  40. //初始化程序
  41. *****************************/
  42. void InitLed(void)
  43. {
  44. 	P0DIR |= 0x50; //定义为输出  0100 0000
  45.         P2DIR |= 0x01;
  46.         //P0DIR |= 0x20;
  47. 	LED1 = 0;       //LED1、2灯熄灭
  48.         R1 = 1;
  49.           
  50. }
  51.  
  52.  
  53. //红外控制初始化**********************
  54. void Infrared(void)
  55. {
  56.   P1DIR &= ~0x01;
  57.   P1SEL |= 0x01;
  58.   In = 0;
  59. }
  60.  
  61. /**************************************************************** 
  62.    串口初始化函数     
  63. ***********************************************************/
  64. void InitUart()
  65. {
  66.     CLKCONCMD &= ~0x40; // 设置系统时钟源为 32MHZ晶振
  67.     while(CLKCONSTA & 0x40);                     // 等待晶振稳定 
  68.     CLKCONCMD &= ~0x47;                          // 设置系统主时钟频率为 32MHZ
  69.  
  70.     PERCFG = 0x00;        //位置1 P0口 
  71.     P0SEL = 0x3c;        //P0_2,P0_3,P0_4,P0_5用作串口,第二功能 
  72.     P2DIR &= ~0XC0;      //P0 优先作为UART0 ，优先级
  73.  
  74.     U0CSR |= 0x80;       //UART 方式 
  75.     U0GCR |= 11;           //U0GCR与U0BAUD配合     
  76.     U0BAUD |= 216;       // 波特率设为115200 
  77.     UTX0IF = 1;          //UART0 TX 中断标志初始置位1  （收发时候）
  78.     U0CSR |= 0X40;        //允许接收 
  79.     IEN0 |= 0x84;       // 开总中断，接收中断    
  80. }
  81.  
  82. /**************************************************************** 
  83. 串口发送字符串函数    
  84. ****************************************************************/ 
  85. void Uart_Send_String(char *Data,int len) 
  86. {
  87.  { 
  88.   int j; 
  89.   for(j=0;j<len;j++) 
  90.   { 
  91.     U0DBUF = *Data++; 
  92.     while(UTX0IF == 0); 
  93.     UTX0IF = 0; 
  94.   } 
  95.  }
  96. }
  97. /***************************
  98. //主函数
  99. ***************************/
  100. void main(void)
  101. {
  102.   
  103.   InitLed();		//调用初始化函数 
  104.   InitUart();
  105.   Infrared();//初始化红外
  106.   
  107.  
  108.   
  109.   while(1)
  110.   {
  111.      if(RXTXflag == 1)     //接收状态 
  112.      { 
  113.         if( temp != 0) 
  114.         { 
  115.            if((temp!='#')&&(datanumber<3)) //'＃'被定义为结束字符，最多能接收50个字符           
  116.            Rxdata[datanumber++] = temp; 
  117.            else 
  118.            { 
  119.              RXTXflag = 3;                     //进入发送状态 
  120.            }         
  121.             temp  = 0;
  122.          }
  123.       }
  124.       if(RXTXflag == 3)     //检测接收到的数据
  125.       { 
  126.         
  127.         
  128.        if(Rxdata[0]=='L')
  129.        {
  130.         
  131.          switch(Rxdata[1]-48)//很重要，ASICC码转成数字,判断L后面第一个数 
  132.          {
  133.       case 0:
  134.         {
  135.           LED1=1; //点亮
  136.           break;
  137.         }
  138.       case 1:
  139.         {
  140.           LED1=0;
  141.           break;
  142.         }
  143.        }  
  144.       }
  145.       else if(Rxdata[0]=='U')
  146.       {
  147.         switch(Rxdata[1]-48)
  148.         {
  149.         case 0:
  150.           
  151.           R1 = 0;
  152.           break;
  153.         case 1:
  154.         
  155.           R1 = 1;
  156.           break;
  157.         }
  158.       }
  159.        RXTXflag = 1;         
  160.        datanumber = 0;                     //指针归 0
  161.       }   
  162.   ///***************************  
  163.      if(R1!=0)
  164.      {
  165.        if((In == 1)&&(LED1!=1 ))
  166.   {
  167.     LED1 = 1;
  168.   }else if((In == 1) && (LED1==1))
  169.   {
  170.     LED1 = 0;
  171.   }
  172.      }
  173.   
  174.   ///***************************
  175.  
  176.     }
  177.  
  178.  
  179. }
  180.  
  181. /**************************************************************** 
  182. 串口接收一个字符: 一旦有数据从串口传至CC2530, 则进入中断，将接收到的数据赋值给变量temp. 
  183. ****************************************************************/ 
  184. #pragma vector = URX0_VECTOR 
  185.   __interrupt void UART0_ISR(void) 
  186.  { 
  187.   URX0IF = 0;    // 清中断标志 
  188.   temp = U0DBUF;                           
  189.  
 
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  因为硬件不够只做了车的前进，和控制LED小灯。。。。。 
 
 
 
 
  看效果： 
 
 
 
 
  
 
 
 
 
 
  
  
 
 
 
 
  三秒后。。。。 
 
 
 
 
  
  
 
 
 
 
  配对成功后。。。。 
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  我自造的小车。。。。。 
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 
 
 
  
  
 
 写的有点乱。给你们源代码   

 

 
 
 

 


  android端：http://download.csdn.net/detail/csdnhejingzhou/9413347 

 


  Zigbee端：http://download.csdn.net/detail/csdnhejingzhou/9413322 


                

        
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