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標(biāo)題: 簡易藍牙遙控機器狗DIY [打印本頁]

作者: lwq1947 時間: 2025-9-10 17:51
標(biāo)題: 簡易藍牙遙控機器狗DIY
這個機器狗由STM32F103C6T6為核心接有四個SG90舵機和一片BT04-E藍牙模塊構(gòu)成.由于機器狗每條腿只有一個自由度,所以無法優(yōu)化步態(tài)程序及重心控制.機器狗行走時只會在在原地徘徊.為了能使機器狗正常行走,就在其腳上裝配了棘輪裝置,使其向前磨擦力小于向后磨擦力.
手機遙控采用HC藍牙助手APP來控制機器狗前進,左轉(zhuǎn),右轉(zhuǎn),停止四種工作狀態(tài).
機器狗程序如下:

#include <Servo.h>

Servo myservo1;
Servo myservo2;
Servo myservo3;
Servo myservo4;
char seria1Data;
int k = 0;
int pos = 0;
void setup() {
Serial.begin(9600);
  myservo1.attach(PA0);
  myservo2.attach(PA1);
  myservo3.attach(PA2);
  myservo4.attach(PA3);
myservo1.write(90);
myservo2.write(90);
myservo3.write(90);
myservo4.write(90);
  delay(2000);
}

void loop() {
  seria1Data= Serial.read();
  if(seria1Data == '1' ) k=1;
  if(seria1Data == '2' ) k=2;
  if(seria1Data == '3' ) k=3;
  if(seria1Data == '0' ) k=0;
  if(k == 3 ) {
  for (pos = 60; pos <= 120; pos += 1) {
myservo1.write(pos);
myservo2.write(180-pos);
myservo3.write(pos);
myservo4.write(180-pos);
delay(10);
  }
  for (pos = 120; pos >= 60; pos -= 1) {
myservo1.write(pos);
myservo2.write(180-pos);
myservo3.write(pos);
myservo4.write(180-pos);
delay(10);
  }
  }
  if(k == 1 ) {
myservo1.write(60);
myservo2.write(120);
for (pos = 60; pos <= 120; pos += 1) {
myservo3.write(pos);
myservo4.write(180-pos);
delay(10);
  }
for (pos = 120; pos >= 60; pos -= 1) {
myservo3.write(pos);
myservo4.write(180-pos);
delay(10);
}
}
if(k == 2 ) {
myservo4.write(60);
myservo3.write(120);
for (pos = 60; pos <= 120; pos += 1) {
myservo1.write(pos);
myservo2.write(180-pos);
delay(10);
  }
for (pos = 120; pos >= 60; pos -= 1) {
myservo1.write(pos);
myservo2.write(180-pos);
delay(10);
}
}
if(k == 0 ) {
myservo1.write(90);
myservo2.write(90);
myservo3.write(90);
myservo4.write(90);
}
}
機器狗外觀圖和電路圖如下:

0c704b68af0a76c29c30d720fe6fbcdb.jpg (293.46 KB, 下載次數(shù): 0)

外觀圖

無標(biāo)題.jpg (50.29 KB, 下載次數(shù): 0)

電路圖

作者: changchieh 時間: 2025-9-23 16:33
樓主水平很高！

作者: kpffq 時間: 2025-10-4 20:21
請問供電是用什么電池的呢？

作者: lwq1947 時間: 2025-10-6 07:01

kpffq 發(fā)表于 2025-10-4 20:21
請問供電是用什么電池的呢？

不好意思,由于論壇沒有回復(fù)提醒,所以今天才看到你的回復(fù).我用的是一塊三星舊手機的3.7V鋰電池.你可選5V以下的其它種類的電池.

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