基于wemos手机APP制源WIFI避障小车源码

#include <ESP8266WiFi.h>
#define Dong1 D6
#define Dong2 D7
#define Zhuan1 D4
#define Zhuan2 D5
#define Echo D2
#define Trig D8
char* ssid = "CMCC-401";//“wifi热点名称”
char* passwd = "15066903226"; //”wifi热点密码”
int port =8888;//端口号，手机连接时输入
WiFiServer server(port);//设置服务器端口号
long getTime()
{
  digitalWrite(Trig,HIGH);
  delayMicroseconds(10);
  digitalWrite(Trig,LOW);
 return pulseIn(Echo,HIGH);
  }
  void initChaoShengBo()
{
  pinMode(Echo,INPUT);
 pinMode(Trig,OUTPUT);
  }
void initWifiSta()
{
  WiFi.mode(WIFI_STA);         // 设置STA模式
  WiFi.begin(ssid, passwd);   //连接网络
  while (WiFi.status() != WL_CONNECTED)
  {
         Serial.print(".");
        delay(500);
  }
  Serial.println(WiFi.localIP());//通过串口打印wemos的IP地址
}
void initL9110s()
{
  pinMode(Dong1,OUTPUT);
  pinMode(Dong2,OUTPUT);
  pinMode(Zhuan1,OUTPUT);
  pinMode(Zhuan2,OUTPUT);
  }
void qian()
{
  digitalWrite(Dong1,HIGH);
  digitalWrite(Dong2,LOW);
  }
  void hou()
{
  digitalWrite(Dong1,LOW);
  digitalWrite(Dong2,HIGH);
  } 
   void ting()
{
  digitalWrite(Dong1,LOW);
  digitalWrite(Dong2,LOW);
  } 
void zuo()
{
  digitalWrite(Zhuan1,HIGH);
  digitalWrite(Zhuan2,LOW);
  } 
  void you()
{
  digitalWrite(Zhuan1,LOW);
  digitalWrite(Zhuan2,HIGH);
  } 
   void zheng()
{
  digitalWrite(Zhuan1,HIGH);
  digitalWrite(Zhuan2,HIGH);
  } 
void setup() {
  // put your setup code here, to run once:
initL9110s();
initChaoShengBo();
Serial.begin(115200);
initWifiSta();
server.begin();
}
void loop() {
  // put your main code here, to run repeatedly:
char cmd;
int mark =0;
long dis;
  WiFiClient client =server.available();//服务器初始化
        while(client.connected())//等待服务器连接
        {
                while(client.available()>0)//有数据到来，类似串口那个函数
                {
                  cmd =client.read();//读取数据
                    Serial.print(cmd);
                    dis=getTime()/58;
                    if(dis<20)
                    {
                      hou();
                      delay(200);
                      ting();
                      mark=1;
                      }
                       else
                       {
                        mark=0;
                       }
                                if(mark==0)
                                {
                                        switch(cmd)
                                        {
                                          case 'q':
                                          qian();
                                          break;
                                           case 'h':
                                          hou();
                                          break;
                                           case 'z':
                                          zuo();
                                          break;
                                           case 'y':
                                          you();
                                          break;
                                          case 's':
                                           ting();
                                           break;
                                          case 'd':
                                          zheng();
                                          break;
                                         } 
                                }
                }
        }
 }