If you’re a rooted user, you’re probably familiar with the ADB command, and that it requires you to connect your phone to your PC with a cable. Enter adbWireles, which allows you to - wait for it - use ADB over WiFi.

The specifics of how it works are pretty technical, but here’s the laymans version provided by the dev (and translated from Spanish by the Goog):

adbWireless is a simple application to enable the wireless interface debug Android.