简易蓝牙遥控机器狗DIY -

标题: 简易蓝牙遥控机器狗DIY [打印本页]

作者: lwq1947 时间: 2025-9-10 17:51
标题: 简易蓝牙遥控机器狗DIY
这个机器狗由STM32F103C6T6为核心接有四个SG90舵机和一片BT04-E蓝牙模块构成.由于机器狗每条腿只有一个自由度,所以无法优化步态程序及重心控制.机器狗行走时只会在在原地徘徊.为了能使机器狗正常行走,就在其脚上装配了棘轮装置,使其向前磨擦力小于向后磨擦力.
手机遥控采用HC蓝牙助手APP来控制机器狗前进,左转,右转,停止四种工作状态.
机器狗程序如下:

#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);
}
}
机器狗外观图和电路图如下:

0c704b68af0a76c29c30d720fe6fbcdb.jpg (293.46 KB, 下载次数: 0)

外观图

无标题.jpg (50.29 KB, 下载次数: 0)

电路图

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