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STM32单片机的桌面宠物机器人（基于HAL库）

article 2025/4/2 21:09:55

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);
}

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