ADB WiFi makes it easy to debug your apps directly on device via WiFi TCP/IP connection. No need to use USB cable. After enabling ADB over WiFi to connect your computer to the device open the console and run

1. Connect phone to computer (via USB).

2. Open Terminal(OSX) or cmd (Windows).

3. Run adb tcpip 5555 on your PC.(5555).

4. Run adb connect IP_ADDRESS:5500

adb connect 192.168.100.6:5555

5. To check number of connected devices adb devices.

Note : Your PC and Android Device which you debug over wifi both need to connect on same Wifi.