效果
基于STM32单片机的桌面宠物机器人
概要
语音模块：ASR PRO，通过天问block软件烧录语音指令
主控芯片：STM32F103C8T6 使用HAL库
屏幕：0.96寸OLED屏，用来显示表情
4个舵机，用来当作四只腿
底部一个面包板
分析
初始化代码，使用TIM3定时器的四个通道输出PWM驱动舵机，控制腿部的运动
HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_1);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_2);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_3);HAL_TIM_PWM_Start(&htim3, TIM_CHANNEL_4);OLED_Init();OLED_Clear();OLED_ShowImage(0, 0, 128, 64, BMP1);mode_stand();ASR PRO获取到语音后通过串口通信把数据发送到STM32，在单片机内使用中断的方式获取语音数据,，然后根据语音指令判断当前的动作
while (1) {HAL_UART_Receive_IT(&huart1, &command, 1);if (command == 0x32) { // 前进mode_forward();} else if (command == 0x31) {mode_slowstand();} else if (command == 0x33) { // 后退mode_behind();} else if (command == 0x34) { // 左转mode_left();} else if (command == 0x35) { // 右转mode_right();} else if (command == 0x36) { // 前后摇摆mode_swing_qianhou();} else if (command == 0x37) { // 左右摇摆mode_swing_zuoyou();} else if (command == 0x38) { // 跳舞mode_dance();} else if (command == 0x39) { // 立正mode_stand();} else if (command == 0x41) { // 起身mode_slowstand();} else if (command == 0x61) { // 坐下mode_strech();} else if (command == 0x63) { // 伸懒腰mode_lanyao();} else if (command == 0x64) { // 抬头mode_headup();} else if (command == 0x65) { // 趴下睡觉mode_sleeppa();} else if (command == 0x66) { // 卧下睡觉mode_sleepwo();} else if (command == 0x68) { // 睡觉mode_sleepwo();}/* USER CODE END WHILE *//* USER CODE BEGIN 3 */}分别展示对应的表情和动作，OLED直接用的现成的库
#include "Mode.h"
#include <stdlib.h>
#include "Movement.h"
#include "OLED.h"
#include "gpio.h"
#include "main.h"extern uint8_t command;
uint8_t previousCommand = 0;void mode_forward(void) // 前进
{OLED_ShowImage(0, 0, 128, 64, BMP2); // 前进脸move_forward();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}
void mode_behind(void) // 后退
{OLED_ShowImage(0, 0, 128, 64, BMP2); // 前进脸move_behind();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}
void mode_left(void) // 左转
{OLED_ShowImage(0, 0, 128, 64, BMP3); // 左转脸move_left();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}
void mode_right(void) // 右转
{OLED_ShowImage(0, 0, 128, 64, BMP4); // 右转脸move_right();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}void mode_swing_qianhou(void) // 前后摇摆
{OLED_ShowImage(0, 0, 128, 64, BMP11); // 迷糊脸move_shake_qianhou();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}
void mode_swing_zuoyou(void) // 左右摇摆
{OLED_ShowImage(0, 0, 128, 64, BMP11); // 迷糊脸move_shake_zuoyou();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}void mode_dance(void) // 跳舞
{OLED_ShowImage(0, 0, 128, 64, BMP5); // 特殊脸move_dance();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;
}
void mode_stand(void) // 立正
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_stand();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;HAL_Delay(1000);
}
void mode_slowstand(void) // 起身
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;
}
void mode_strech(void) // 坐下
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);OLED_ShowImage(0, 0, 128, 64, BMP2); // 前进脸,move_stretch();OLED_ShowImage(0, 0, 128, 64, BMP12); // 猫猫脸HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;
}
void mode_twohands(void) // 交替抬手
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_stand();move_two_hands();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;
}
void mode_lanyao(void) // 懒腰
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);OLED_ShowImage(0, 0, 128, 64, BMP9); // 开心脸lan_yao();OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;
}
void mode_headup(void) // 抬头
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);OLED_ShowImage(0, 0, 128, 64, BMP10); // 调皮脸move_head_up();HAL_GPIO_TogglePin(LED_GPIO_Port, LED_Pin);previousCommand = command;command = 0;
}
void mode_sleeppa(void) // 趴下睡觉
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);if (rand() % 2) { // 随机产生两种表情中的一种OLED_ShowImage(0, 0, 128, 64, BMP6); // 普通睡觉脸} else {OLED_ShowImage(0, 0, 128, 64, BMP8); // 酣睡脸}move_sleep_p();previousCommand = command;command = 0;
}
void mode_sleepwo(void) // 卧下睡觉
{OLED_ShowImage(0, 0, 128, 64, BMP1); // 立正脸move_slow_stand(previousCommand);if (rand() % 2) { // 随机产生两种表情中的一种OLED_ShowImage(0, 0, 128, 64, BMP6); // 普通睡觉脸} else {OLED_ShowImage(0, 0, 128, 64, BMP8); // 酣睡脸}move_sleep_w();previousCommand = command;command = 0;
}
void mode_nanshou(void) // 难受
{OLED_ShowImage(0, 0, 128, 64, BMP2); // 前进脸move_sleep_w();previousCommand = command;command = 0;
}
部分动作实现，分别设置对应腿的角度，通过延时达到效果
void move_stand(void) { // 站立Servo_SetAngle1(90);Servo_SetAngle2(90);Servo_SetAngle3(90);Servo_SetAngle4(90);HAL_Delay(500);
}void move_forward(void) { // 前进Servo_SetAngle1(135);Servo_SetAngle4(45);HAL_Delay(movedelay);Servo_SetAngle2(45);Servo_SetAngle3(135);HAL_Delay(movedelay);Servo_SetAngle1(90);Servo_SetAngle4(90);HAL_Delay(movedelay);Servo_SetAngle2(90);Servo_SetAngle3(90);HAL_Delay(movedelay);Servo_SetAngle2(135);Servo_SetAngle3(45);HAL_Delay(movedelay);Servo_SetAngle1(45);Servo_SetAngle4(135);HAL_Delay(movedelay);Servo_SetAngle2(90);Servo_SetAngle3(90);HAL_Delay(movedelay);Servo_SetAngle1(90);Servo_SetAngle4(90);HAL_Delay(movedelay);
}void move_behind(void) { // 后退Servo_SetAngle1(45);Servo_SetAngle4(135);HAL_Delay(movedelay);Servo_SetAngle2(135);Servo_SetAngle3(45);HAL_Delay(movedelay);Servo_SetAngle1(90);Servo_SetAngle4(90);HAL_Delay(movedelay);Servo_SetAngle2(90);Servo_SetAngle3(90);HAL_Delay(movedelay);Servo_SetAngle2(45);Servo_SetAngle3(135);HAL_Delay(movedelay);Servo_SetAngle1(135);Servo_SetAngle4(45);HAL_Delay(movedelay);Servo_SetAngle2(90);Servo_SetAngle3(90);HAL_Delay(movedelay);Servo_SetAngle1(90);Servo_SetAngle4(90);HAL_Delay(movedelay);
}
