Function description

Quadruped robot: currently supports voice control to move forward, backward, turn left, turn right, twist, shake hands, jump, etc.; supports AP mode, connect to hotspots with a terminal, and access web pages for control; supports control using HC05 and Bluetooth debugger ;OLED expression display and ultrasonic obstacle avoidance are still being optimized. (Optimization completed, see the demonstration video below for the final effect)

Finished product display

Video display

image display

Hardware introduction

Power supply section

Manual reference circuit:

Actual use of power circuits

Main control circuit

Download circuit

Physical PCB

Servo drive module

Voice recognition module

Ultrasonic module

Other things to note

Software Description

main frame

The main body of the program still uses the official example of Chuanzhi. On this basis, hundreds of modifications have been made, mainly by adding a serial port task and action logic.

static void UART_Task(void)
{
    IotUartAttribute uart_attr = {
        //baud_rate: 9600
        .baudRate = 9600,

//data_bits: 8bits



.dataBits = 8,



.stopBits = 1,



.parity = 0,



.rxBlock = 0,



.txBlock = 0,



};



//Initialize uart driver



IoTUartInit(HI_UART_IDX_1, &uart_attr);



while (1)



{



printf("========================================
");



printf("SIZU_example*
");



printf("========================================
");



// //Send data through serial port 1



// IoTUartWrite(HI_UART_IDX_1, (unsigned char *)data, strlen(data));



//Receive data through serial port 1



IoTUartRead(HI_UART_IDX_1, uart_buff_ptr, UART_BUFF_SIZE);



SIZU_Uart_Cmd((char *)uart_buff_ptr);



printf("Uart1 read data:%s
", uart_buff_ptr);



usleep(500000);



}



}`

//Front
//------------------ | D1 | -------------------
// -------- --------
// | D4 | | D13 |
// | joint4 | | joint13 |
//  ----- --------     --------- -----
//       |  D5    |   |  D12    |
//       | joint5 |   | joint12 |
//        --------     --------
//       |  D11    |  |   D3    |
//       | joint11 |  |  joint3 |
//  ----- --------    --------- -----
// |  D12    |               |  D2   |
// | joint12 |               | joint2 |
//  --------                 --------

语音识别

enum{
Get_Down,//趴下
Hand_shake,//握手
Go_Forward,//前进
Go_Backward,//后退
Go_Left,//左转
Go_Right,//右转
Twist_Body,//扭身子
Stretch_Oneself,//伸懒腰
WAIT//d
};

<br>

<br>

//检测串口指令



void SIZU_Uart_Cmd(char *str)



{



char *Str;



unsigned char ID=255;



Str=&str[1];//定位到指令的数字部分“G1”



ID=atoi(Str);



if(strstr((const char *)str,"G")!=NULL)			//如果字符串str中包含有“G”



{



switch(ID)



{



case Get_Down:	//趴下  G0



sithome();



printf("Get_Down
");



break;



case Hand_shake:	// 握手G1



wink(10);



printf("Handshake
");



break;



case Go_Forward:	// 前进G2



forward(5);



printf("Go_Forward
");



break;



case Go_Backward:	// 后退G3



backward(5);



printf("Go_Backward
");



break;



case Go_Left:	// 左转G4



leftturn(5);



printf("Go_Left
");



break;



case Go_Right:	// 右转G5



rightturn(5);



printf("Go_Right
");



break;



case Twist_Body:	// 扭身子



twist();



printf("LED_Add
");



break;



case Stretch_Oneself:	//伸懒腰



printf("LED_Reduce
");



stand3();



break;



default:



printf("%s ERROR",str);



standhome();//站立



break;



}



}



memset(uart_buff,0,sizeof(uart_buff));



}

语音识别代码

超声波测距流程

通信流程

代码

// An highlighted block

#define Echo  8   //Echo   //GPIO8
#define Trig  7   //Trig   //GPIO7
#define GPIO_FUNC 0

float GetDistance  (void) {
    static unsigned long start_time = 0, time = 0;
    float distance = 0.0;
    IotGpioValue value = IOT_GPIO_VALUE0;
    unsigned int flag = 0;
            /*
=============== GPIO通信模式流程 1初始化GPIO========================================
            */
    IoTIoSetFunc(Echo, GPIO_FUNC);//设置Echo连接IO为普通GPIO模式，无复用
    IoTGpioSetDir(Echo, IOT_GPIO_DIR_IN);//设置Echo连接IO为输入模式
    IoTGpioSetDir(Trig, IOT_GPIO_DIR_OUT);//设置Trig连接IO为输出模式
            /*
=============== GPIO通信模式流程 2输出起始信号========================================
            */
    IoTGpioSetOutputVal(Trig, IOT_GPIO_VALUE1);//拉高Trig
    IoTUdelay(20);//20us
    IoTGpioSetOutputVal(Trig, IOT_GPIO_VALUE0);//拉低Trig
           /*
=============== GPIO通信模式流程 3检测Echo脚输出的高电平时间========================================
            */
    while (1) {
        IoTGpioGetInputVal(Echo, &value);//读取Echo脚的电平状态
        if ( value == IOT_GPIO_VALUE1 && flag == 0) {//如果为高
            start_time = IoTGetUs();//获取此时时间
            flag = 1;
        }
        if (value == IOT_GPIO_VALUE0 && flag == 1) {//高电平结束变成低电平
            time = IoTGetUs() - start_time;//计算高电平维持时间
            start_time = 0;
            break;
        }
    }
               /*
=============== GPIO通信模式流程 4代入公式计算========================================
            */
    distance = time * 0.034 / 2;
    // printf("distance is %f
",distance);
    return distance;
}

网页服务器

<!DOCTYPE html>
<html lang="en">
<head><meta charset="UTF-8">
<title>听话的狗子</title><style> body {user-select: none;text-align: center;}  
table {margin: 0 auto}  td div {width: 150px;height: 150px;border: 1px solid darkgrey;display: flex;align-items: center;justify-content: center;color:deepskyblue;} 
#s {background-color: red;color: white;}  td div:active {background: yellow;color: white;} 
button {margin: 0.5rem;width: 9rem;height: 3rem;font-size: 1.2rem;border-radius: 1rem;} 
button:hover {border-radius: 1rem;background-color: green;color: yellow;}
</style></head><body><h1>网页控制</h1>
<button id="c">安装模式</button><button id="a">第一组动作</button><button id="b">第二组动作</button><br><br>
<button id="d">前进</button><br data-tomark-pass><br data-tomark-pass>
<button id="e">左转</button>
<button id="f">右转</button><br data-tomark-pass><br data-tomark-pass>
<button id="g">后退</button><br data-tomark-pass><br data-tomark-pass>
<button id="h">趴下</button><button id="i">握手</button><button id="j">伸懒腰</button><button id="k">扭身子</button>
<br data-tomark-pass><br data-tomark-pass>
<script> 
function u(p) {return `${p}`;}
function g(i) {return document.getElementById(i);}
function fe(e, f){e.addEventListener('click', function (e) {/* do something*/f();});}
function fg(u, f) {let x = new XMLHttpRequest();
x.onreadystatechange = function () {if (this.readyState == 4 && this.status == 200) {f(x);}};
x.open("GET", u, true);x.send();}
function fp(u, d, f, p) {let x = new XMLHttpRequest();
 if (p) {x.upload.addEventListener('progress', function (e) {p(e);});}
 x.onreadystatechange = function () {if (this.readyState == 4 && this.status == 200) {f(x);}};
 x.open('POST', u, true);x.timeout = 45000;x.send(d);}
 fe(g('a'), () => {fg(u('/dog/first'), () => {});});
 fe(g('b'), () => {fp(u('/dog/second'),  () => {});});
 fe(g('c'), () => {fp(u('/dog/init'), () => {});});
fe(g('d'), () => {fp(u('/dog/forward'), () => {});});
fe(g('e'), () => {fp(u('/dog/left'), () => {});});
fe(g('f'), () => {fp(u('/dog/right'), () => {});});
fe(g('g'), () => {fp(u('/dog/backward'), () => {});});
fe(g('h'), () => {fp(u('/dog/fall'), () => {});});
fe(g('i'), () => {fp(u('/dog/handshake'), () => {});});
fe(g('j'), () => {fp(u('/dog/stretch'), () => {});});
fe(g('k'), () => {fp(u('/dog/twist'), () => {});});
</script></body></html>

Bluetooth APP

Mechanical structure

bill of materials

Summarize

study notes