STM32单片机的桌面宠物机器人（基于HAL库）

 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);
}