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

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

<?xml version="1.0" encoding="utf-8"?>

package com.example.hejingzhou.bluetoothtoydemo;import android.content.Intent;import android.os.Handler;import android.support.v7.app.AppCompatActivity;import android.os.Bundle;import android.view.Window;public class WelcomeActivity extends AppCompatActivity {    private Handler handler;    @Override    protected void onCreate(Bundle savedInstanceState) {        super.onCreate(savedInstanceState);        setContentView(R.layout.activity_welcome);        handler = new Handler();        handler.postDelayed(newRun,3000);    }    private Runnable newRun = new Runnable() {        @Override        public void run() {            startActivity(new Intent(WelcomeActivity.this,MainActivity.class));            finish();        }    };}

1.12、activity_main

<?xml version="1.0" encoding="utf-8"?>                

@dimen

<?xml version="1.0" encoding="UTF-8"?>

package com.example.hejingzhou.bluetoothtoydemo;import android.bluetooth.BluetoothAdapter;import android.bluetooth.BluetoothDevice;import android.bluetooth.BluetoothServerSocket;import android.bluetooth.BluetoothSocket;import android.content.BroadcastReceiver;import android.content.Context;import android.content.Intent;import android.content.IntentFilter;import android.os.*;import android.os.Process;import android.support.v7.app.AppCompatActivity;import android.util.Log;import android.view.View;import android.widget.AdapterView;import android.widget.ArrayAdapter;import android.widget.Button;import android.widget.ImageView;import android.widget.ListView;import android.widget.Toast;import java.io.IOException;import java.lang.reflect.InvocationTargetException;import java.lang.reflect.Method;import java.util.ArrayList;import java.util.List;import java.util.UUID;public class MainActivity extends AppCompatActivity {    private Handler handler;    private Button ButVisual,ButSearchDevice;    private ImageView imageExit;    private ListView listView;    static final String SPP_UUID = "00001101-0000-1000-8000-00805F9B34FB";    private UUID uuid;    private ArrayAdapter adapterDevices;    private List listDevices = new ArrayList();    private BluetoothAdapter bluetoothAdapter;    public static BluetoothSocket socket = null;    public static BluetoothSocket bluetoothSocket;    public static AcceptThread acceptThread;    @Override    protected void onCreate(Bundle savedInstanceState) {        super.onCreate(savedInstanceState);        setContentView(R.layout.activity_main);        bluetoothAdapter = BluetoothAdapter.getDefaultAdapter();        uuid = UUID.fromString(SPP_UUID);        findViewById();        InitBlueTooth();        click();    }    /**     * 单击监听     */    private void click() {        ButVisual.setOnClickListener(new View.OnClickListener() {            @Override            public void onClick(View v) {                Intent discoverableIntent = new Intent(                        BluetoothAdapter.ACTION_REQUEST_DISCOVERABLE);                discoverableIntent.putExtra(                        BluetoothAdapter.EXTRA_DISCOVERABLE_DURATION,300);                startActivity(discoverableIntent);            }        });        ButSearchDevice.setOnClickListener(new View.OnClickListener() {            @Override            public void onClick(View v) {                if (bluetoothAdapter.getState() == BluetoothAdapter.STATE_OFF) {                    Toast.makeText(MainActivity.this, "请您打开蓝牙", Toast.LENGTH_SHORT).show();                    return;                }                //setTitle("本设备蓝牙地址" + bluetoothAdapter.getAddress());                listDevices.clear();                bluetoothAdapter.startDiscovery();            }        });        imageExit.setOnClickListener(new View.OnClickListener() {            @Override            public void onClick(View v) {                if (bluetoothSocket != null)                    try {                        bluetoothSocket.close();                    } catch (IOException e) {                        e.printStackTrace();                    }                MainActivity.this.finish();            }        });    }    private void findViewById() {        ButVisual = (Button)findViewById(R.id.buttonvisual);        ButSearchDevice = (Button)findViewById(R.id.buttonsearch);        imageExit = (ImageView)findViewById(R.id.imageViewExit);        listView = (ListView)findViewById(R.id.listView);        adapterDevices = new ArrayAdapter(MainActivity.this,android.R.layout.simple_list_item_1,listDevices);        listView.setAdapter(adapterDevices);        listView.setOnItemClickListener(new ItemClickEvent());    }    /**     * 初始化蓝牙     */    private void InitBlueTooth(){        if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_ON)        {            //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\            handler = new Handler()            {               public void HanMessage(Message message)               {                   switch (message.what)                   {                       case  0:                           acceptThread = new AcceptThread();                           acceptThread.start();//开启线程的时候出错                   }               }            };                IntentFilter intentFilter = new IntentFilter();                intentFilter.addAction(BluetoothDevice.ACTION_FOUND);                intentFilter.addAction(BluetoothDevice.ACTION_BOND_STATE_CHANGED);                intentFilter.addAction(BluetoothAdapter.ACTION_SCAN_MODE_CHANGED);                intentFilter.addAction(BluetoothAdapter.ACTION_STATE_CHANGED);                registerReceiver(searchDevices, intentFilter);        } else if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_OFF)        {            bluetoothAdapter.enable();            try {                Thread.sleep(1000);            }          /*  try {                if(bluetoothAdapter.getState() == BluetoothAdapter.STATE_ON)                {                    Toast.makeText(MainActivity.this,"已打开蓝牙",Toast.LENGTH_SHORT).show();                    //\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\\                    handler = new Handler()                    {                        public void HanMessage(Message message)                        {                            switch (message.what)                            {                                case  0:                                    acceptThread = new AcceptThread();                                    acceptThread.start();//开启线程的时候出错                            }                        }                    };                    IntentFilter intentFilter = new IntentFilter();                    intentFilter.addAction(BluetoothDevice.ACTION_FOUND);                    intentFilter.addAction(BluetoothDevice.ACTION_BOND_STATE_CHANGED);                    intentFilter.addAction(BluetoothAdapter.ACTION_SCAN_MODE_CHANGED);                    intentFilter.addAction(BluetoothAdapter.ACTION_STATE_CHANGED);                    registerReceiver(searchDevices, intentFilter);                }else                {                    Toast.makeText(MainActivity.this,"蓝牙打开失败，请手动打开",Toast.LENGTH_SHORT).show();                    return;                }            }*/ catch (Exception e) {                Toast.makeText(MainActivity.this,"STATE_OFF注册错误",Toast.LENGTH_SHORT).show();            }            } /*catch (InterruptedException e) {                e.printStackTrace();        }*/    }    /**     * 管理蓝牙连接套接口     */    private void manageConnectedSocket()    {        bluetoothSocket = socket;        startActivity(new Intent(MainActivity.this,CMDActivity.class));    }    /**     * BroadcastReceiver基类代码,将收到发送的意图sendBroadcast()。     */    private BroadcastReceiver searchDevices = new BroadcastReceiver() {        @Override        public void onReceive(Context context, Intent intent) {            String action = intent.getAction();            Bundle bundle = intent.getExtras();            Object[] objectName = bundle.keySet().toArray();            //显示详细的消息细节            for(int i = 0;i parent, View view, int position, long id) {            String str = listDevices.get(position);            String[] values = str.split("\\|");            String address = values[1];            Log.e("address",values[1]);            uuid = UUID.fromString(SPP_UUID);            Log.e("uuid",uuid.toString());            BluetoothDevice bluetoothDevice = bluetoothAdapter.getRemoteDevice(address);            Method method;            try {                method = bluetoothDevice.getClass().getMethod("createRfcommSocket",new Class[] {int.class});                bluetoothSocket = (BluetoothSocket)method.invoke(bluetoothDevice,Integer.valueOf(1));            } catch (NoSuchMethodException e) {                e.printStackTrace();            } catch (InvocationTargetException e) {                e.printStackTrace();            } catch (IllegalAccessException e) {                e.printStackTrace();            }            bluetoothAdapter.cancelDiscovery();            try {                bluetoothSocket.connect();                startActivity(new Intent(MainActivity.this,CMDActivity.class));            } catch (IOException e) {                e.printStackTrace();            }        }    }    class AcceptThread extends Thread    {        private final BluetoothServerSocket serverSocket;        public AcceptThread()        {            BluetoothServerSocket tmp = null;            try {                Method listenMethod = bluetoothAdapter.getClass().getMethod("listenUsingRfcommOn",new Class[]{int.class});                tmp = (BluetoothServerSocket)listenMethod.invoke(bluetoothAdapter,Integer.valueOf(1));            } catch (NoSuchMethodException e) {                e.printStackTrace();            } catch (InvocationTargetException e) {                e.printStackTrace();            } catch (IllegalAccessException e) {                e.printStackTrace();            }            serverSocket = tmp;        }        public void run()        {            while(true)            {                try {                    socket = serverSocket.accept();                } catch (IOException e) {                    break;                }                if(socket != null)                {                    manageConnectedSocket();                    try {                        serverSocket.close();                    } catch (IOException e) {                        e.printStackTrace();                    }                    break;                }            }            Message message = new Message();            message.what = 0;            handler.sendMessage(message);        }        //将取消监听套接字,导致线程结束        public void cancel()        {            try {                serverSocket.close();            } catch (IOException e) {                e.printStackTrace();            }        }    }}

<?xml version="1.0" encoding="utf-8"?>                                

package com.example.hejingzhou.bluetoothtoydemo;import android.os.Handler;import android.os.Message;import android.support.v7.app.AppCompatActivity;import android.os.Bundle;import android.view.MotionEvent;import android.view.View;import android.widget.CompoundButton;import android.widget.ImageButton;import android.widget.TextView;import android.widget.Toast;import java.io.IOException;import java.io.InputStream;import java.io.OutputStream;import java.io.UnsupportedEncodingException;public class CMDActivity extends AppCompatActivity {    public static boolean isRecording = false;    private ImageButton IBUp;    private ImageButton IBDown;    private ImageButton IBLeft;    private ImageButton IBRight;    private ImageButton IBYuan;    private ImageButton IBLight;    private ImageButton IBDisconnect;    private ImageButton IBBack;    private TextView test;    private OutputStream outputStream = null;    private Handler handler;    private ConnectedThread connectedThread;    private String encodeType = "UTF-8";    @Override    protected void onCreate(Bundle savedInstanceState) {        super.onCreate(savedInstanceState);        setContentView(R.layout.activity_cmd);        findViewById();        click();        connectedThread = new ConnectedThread();        handler = new MyHandler();        connectedThread.Start();    }    private void click() {        IBBack.setOnClickListener(new View.OnClickListener() {            @Override            public void onClick(View v) {                CMDActivity.this.finish();            }        });        IBDisconnect.setOnClickListener(new View.OnClickListener() {            @Override            public void onClick(View v) {                try {                    MainActivity.bluetoothSocket.close();                } catch (IOException e) {                    e.printStackTrace();                }                connectedThread.Stop();            }        });        IBUp.setOnTouchListener(new View.OnTouchListener() {            @Override            public boolean onTouch(View v, MotionEvent event) {                if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {                    sendMessage("U0#");                } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {                    sendMessage("U1#");                }                return false;            }        });        IBDown.setOnTouchListener(new View.OnTouchListener() {            @Override            public boolean onTouch(View v, MotionEvent event) {                if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {                    sendMessage("U0#");                } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {                    sendMessage("U1");                }                return false;            }        });        IBLeft.setOnTouchListener(new View.OnTouchListener() {            @Override            public boolean onTouch(View v, MotionEvent event) {                if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {                    sendMessage("30");                } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {                    sendMessage("31");                }                return false;            }        });        IBRight.setOnTouchListener(new View.OnTouchListener() {            @Override            public boolean onTouch(View v, MotionEvent event) {                if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {                    sendMessage("40");                } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {                    sendMessage("41");                }                return false;            }        });        /*IBLight.setOnTouchListener(new View.OnTouchListener() {            boolean isClick = false;            @Override            public boolean onTouch(View v, MotionEvent event) {                if (event.getActionMasked() == MotionEvent.ACTION_DOWN) {                    sendMessage("L0#");                    isClick = true;                } else if (event.getActionMasked() == MotionEvent.ACTION_UP) {                    sendMessage("L1#");                }                return false;            }        });*/        IBLight.setOnClickListener(new View.OnClickListener() {            int a = 1 ;            @Override            public void onClick(View v) {                if((a%2==0)==false)                {                    sendMessage("L0#");                }else if((a%2==0)==true)                {                    sendMessage("L1#");                }                a++;            }        });    }    public void sendMessage(String strCmd) {        try {            outputStream = MainActivity.bluetoothSocket.getOutputStream();        } catch (IOException e) {            e.printStackTrace();        }        byte[] msgbuffer = null;        try {            msgbuffer = strCmd.getBytes(encodeType);        } catch (UnsupportedEncodingException e) {            e.printStackTrace();        }        try {            outputStream.write(msgbuffer);        } catch (IOException e) {            e.printStackTrace();        }    }    @Override    protected void onDestroy() {        try {            MainActivity.bluetoothSocket.close();        } catch (IOException e) {            e.printStackTrace();        }        super.onDestroy();    }    private void findViewById() {        IBUp = (ImageButton) findViewById(R.id.imageButtonShang);        IBDown = (ImageButton) findViewById(R.id.imageButtonXia);        IBLeft = (ImageButton) findViewById(R.id.imageButtonZuo);        IBRight = (ImageButton) findViewById(R.id.imageButtonYou);        IBYuan = (ImageButton) findViewById(R.id.imageButtonYuan);        IBLight = (ImageButton) findViewById(R.id.imageButtonLight);        IBBack = (ImageButton)findViewById(R.id.imageButtonBACK);        IBDisconnect = (ImageButton) findViewById(R.id.imageButtondisconnect);    }    /***     * 连接线程     */    class ConnectedThread extends Thread {        private InputStream inputStream = null;        private long wait;        private Thread thread;        public ConnectedThread() {            isRecording = false;            this.wait = 50;            thread = new Thread(new ReadRunnable());        }        public void Stop() {            isRecording = false;        }        public void Start() {            isRecording = true;            State state = thread.getState();            if (state == State.NEW) {                thread.start();            } else thread.resume();        }        private class ReadRunnable implements Runnable {            @Override            public void run() {                try {                    inputStream = MainActivity.bluetoothSocket.getInputStream();                } catch (IOException e) {                    e.printStackTrace();                }                int length = 20;                byte[] temp = new byte[length];                if (inputStream != null) {                    try {                        int len = inputStream.read(temp, 0, length - 1);                        if (len > 0) {                            byte[] bluetoothBuff = new byte[len];                            System.arraycopy(temp, 0, bluetoothBuff, 0, bluetoothBuff.length);                            String readstr = new String(bluetoothBuff, encodeType);                        }                        Thread.sleep(wait);                    } catch (IOException e) {                        handler.sendEmptyMessage(00);                    } catch (InterruptedException e) {                        e.printStackTrace();                    }                }            }        }        /**         * sendMessage         */        /*public void sendMessage(String strCmd) {            try {                outputStream = MainActivity.bluetoothSocket.getOutputStream();            } catch (IOException e) {                e.printStackTrace();            }            byte[] msgbuffer = null;            try {                msgbuffer = strCmd.getBytes(encodeType);            } catch (UnsupportedEncodingException e) {                e.printStackTrace();            }            try {                outputStream.write(msgbuffer);            } catch (IOException e) {                e.printStackTrace();            }        }*/    }    private class MyHandler extends Handler {        @Override        public void dispatchMessage(Message msg) {            switch (msg.what) {                case 00:                    isRecording = false;                    break;                case 01:                    String info = (String) msg.obj;                    break;                default:                    break;            }            super.dispatchMessage(msg);        }    }}

二、Zigbee程序

#include #include #define uint unsigned int#define uchar unsigned char//定义控制LED灯的端口#define LED1 P0_6#define R1 P2_0#define In P1_0//函数声明void Delayms(uint xms);//延时函数void InitLed(void);//初始化void InitUart();              //初始化串口void Uart_Send_String(char *Data,int len);void Infrared(void);char Rxdata[3];uchar RXTXflag = 1; char temp; uchar  datanumber = 0;/****************************//延时函数*****************************/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){ uint i,j; for(i=xms;i>0;i--)   for(j=587;j>0;j--);} /****************************//初始化程序*****************************/void InitLed(void){P0DIR |= 0x50; //定义为输出  0100 0000        P2DIR |= 0x01;        //P0DIR |= 0x20;LED1 = 0;       //LED1、2灯熄灭        R1 = 1;          }//红外控制初始化**********************void Infrared(void){  P1DIR &= ~0x01;  P1SEL |= 0x01;  In = 0;}/****************************************************************    串口初始化函数     ***********************************************************/void InitUart(){    CLKCONCMD &= ~0x40; // 设置系统时钟源为 32MHZ晶振    while(CLKCONSTA & 0x40);                     // 等待晶振稳定     CLKCONCMD &= ~0x47;                          // 设置系统主时钟频率为 32MHZ    PERCFG = 0x00;        //位置1 P0口     P0SEL = 0x3c;        //P0_2,P0_3,P0_4,P0_5用作串口,第二功能     P2DIR &= ~0XC0;      //P0 优先作为UART0 ，优先级     U0CSR |= 0x80;       //UART 方式     U0GCR |= 11;           //U0GCR与U0BAUD配合         U0BAUD |= 216;       // 波特率设为115200     UTX0IF = 1;          //UART0 TX 中断标志初始置位1  （收发时候）    U0CSR |= 0X40;        //允许接收     IEN0 |= 0x84;       // 开总中断，接收中断    }/**************************************************************** 串口发送字符串函数    ****************************************************************/ void Uart_Send_String(char *Data,int len) { {   int j;   for(j=0;j