控制使用的是Android通过无线网络中继

我就是这样的一个项目。煤矿发送的位置数据的转向系统，但这个想法是一样的。我会完成它上传到谷歌code 很快。您可以检查它在的 PowerWheelino 的。

I have a project just like this. Mine is sending position data for a steering system, but the idea is the same. I'll finish uploading it to Google Code soon. You can check it out at PowerWheelino.

的基本结构是这样的：

在Android
1. 触摸事件发送数据（超过 UDP ）到服务器。
2. 的UDP服务器（ WRT54G 的路由器在这种情况下）将接收数据并通过串行转发它到Arduino。
3. 在Arduino的决定如何处理从串行连接的数据。

1. Touch event on Android sends data (over UDP) to the server.
2. The UDP server (WRT54G router in this case) receives the data and forwards it over serial to the Arduino.
3. The Arduino decides what to do with the data from the serial connection.

接收通过串行数据（IDE串行接口外）时，请记住，Arduino的自动复位。请参阅我的文章这里有关这个主题和方式来解决它。认识到这一点previously会救了我很多故障排除。

Keep in mind that the Arduino automatically resets when receiving data over serial (outside of the IDE Serial interface). See my post here on this topic and ways to get around it. Knowing this previously would have saved me a lot of troubleshooting.

免责声明：

这code，需要一些小的修改完成了要求的OP什么。既然你已经取得了与IOIO和一个Arduino草图工作Android程序，我想这是你的能力范围内。

This code requires some minor modification to accomplish what was requested by the OP. Since you've already made a working Android program with IOIO and an Arduino sketch, I assume this is within your abilities.

下面是Android的UDP客户端code：

执行 UdpClient ::送出数据（）触摸事件或按键preSS。

Execute UdpClient::sendData() on touch event or button press.

import java.net.DatagramPacket;
import java.net.DatagramSocket;
import java.net.InetAddress;

import android.util.Log;

public class UdpClient {
    String messageStr;
    DatagramSocket s;;
    int server_port;
    InetAddress local;
    int msg_length;
    byte[] message;

    public UdpClient (String ipAddress, int port){
        server_port = port;
        try {
            local = InetAddress.getByName(ipAddress);
            s = new DatagramSocket();
        }
        catch (Exception e) {
            e.printStackTrace();
            Log.d("Powerwheelino",e.getStackTrace() + "error");
        }
    }

    public boolean sendData(byte drive, byte steering){
        byte drvByte = (byte) (drive & 0xFF);
        byte steerByte = (byte) (steering & 0xFF);
        message = new byte[2];
        message[0] = drvByte;
        message[1] = steerByte;
        msg_length = message.length;
        //message = messageStr.getBytes();
        try {
            DatagramPacket p = new DatagramPacket(message, msg_length,local,server_port);
            s.send(p);
        }
        catch (Exception e) {
            // TODO Auto-generated catch block
            Log.d("Powerwheelino", e.getStackTrace() +"ERROR ");
            e.printStackTrace();
            return false;
        }
        return true;
    }
}

下面是监听UDP服务器（C ++）code

#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <stdio.h>
#include <unistd.h>
#include <errno.h>
#include <string.h>
#include <stdlib.h>
#include <string>
#include <SerialStream.h>

using namespace std;

class udp_server {
    int sock;
    int bytes_read;
    socklen_t addr_len;

    struct sockaddr_in server_addr , client_addr;

    public:
        udp_server(int portNum)
        {
            if ((sock = socket(AF_INET, SOCK_DGRAM, 0)) == -1) {
                perror("Socket");
                exit(1);
            }

            server_addr.sin_family = AF_INET;
            server_addr.sin_port = htons(portNum);
            server_addr.sin_addr.s_addr = INADDR_ANY;
            bzero(&(server_addr.sin_zero),8);


            if (bind(sock,(struct sockaddr *)&server_addr,
                sizeof(struct sockaddr)) == -1)
            {
                perror("Bind");
                exit(1);
            }

            addr_len = sizeof(struct sockaddr);

            printf("\nUDPServer Waiting for client on port %d", portNum);
                fflush(stdout);
        }

        int listen(char recv_data[]) {
            while (1)
            {
                bytes_read = recvfrom(
                                 sock,
                                 recv_data,
                                 1024,
                                 0,
                                 (struct sockaddr *)&client_addr,
                                 &addr_len
                             );

                recv_data[bytes_read] = '\0';
                printf("\n(%s , %d) said : ",inet_ntoa(client_addr.sin_addr),
                                             ntohs(client_addr.sin_port));
                printf("%s", recv_data);
                string drive;
                string direction;
                int speed, angle;

                if ((recv_data[0] & 128) > 0) {
                    drive = "Fwd";
                }
                else {
                    drive = "Rev";
                }
                if ((recv_data[1] & 128) > 0) {
                    direction = "Left";
                }
                else {
                    direction = "Right";
                }
                speed = recv_data[0] & 127;
                angle = recv_data[1] & 127;
                printf("\t %s @ %d and %s @ %d",
                        drive.c_str(),
                        speed,
                        direction.c_str(),
                        angle);
                fflush(stdout);
            }
            return 0;
        }
};

下面是到Arduino的串行通信的使用LibSerial一个片段：

LibSerial::SerialStream myss;
SerialComm(int argc, char** argv) {
    myss = new LibSerial::SerialStream("/dev/ttyS0", ios_base::out);
    myss.SetBaudRate(LibSerial::SerialStreamBuf::BAUD_57600);
    myss.SetCharSize(LibSerial::SerialStreamBuf::CHAR_SIZE_8);
    myss.SetFlowControl(LibSerial::SerialStreamBuf::FLOW_CONTROL_NONE);
    myss.SetParity(LibSerial::SerialStreamBuf::PARITY_NONE);
    myss.SetNumOfStopBits(1);

    const int Dsize = 2;
    char buffer[1];
    buffer[0] = 125; //0b00000001;
    buffer[1] = '\0';
    bitset(buffer[0]);
    //myss << buffer;
    myss.write(buffer,1);
    //myss.Close();
}