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装修屋子,找了一段墙面布线槽,外槽宽度只有23毫米,截取一段长为24厘米,尝试做个苗条小车
小电机是拆机二手的,主要是共享单车,摩拜的电子锁电机
先在线槽上安装了二只N20小电机
装上二个快餐盒盖做轮子
电机驱动使用MX1508双路电机驱动模块
还有DRV8833双路电机驱动模块
供测试的锂电池
测试一下使用3.7V锂电池的动力系统(视频)
[https://v.youku.com/v_show/id_XN ... hcb.playlsit.page.1](https://v.youku.com/v_show/id_XN ... hcb.playlsit.page.1)
【花雕动手做】实验五十三:语音控制摩拜小电机的纤细机器人测试平台
实验开源代码
- #include "asr.h"
- extern "C"{ void * __dso_handle = 0 ;}
- #include "setup.h"
- #include "myLib/asr_event.h"
- uint32_t snid;
- //{ID:250,keyword:"命令词",ASR:"最大音量",ASRTO:"音量调整到最大"}
- //{ID:251,keyword:"命令词",ASR:"中等音量",ASRTO:"音量调整到中等"}
- //{ID:252,keyword:"命令词",ASR:"最小音量",ASRTO:"音量调整到最小"}
- //{speak:小蝶-清新女声,vol:20,speed:10,platform:haohaodada}
- //{playid:10001,voice:欢迎使用人工智能AI助手,用小龟小车唤醒我。}
- //{playid:10002,voice:我退下了,用小龟小车唤醒我}
- void sys_power_on_hook(void){
- vol_set(7);
- }
- void ASR_CODE()
- {
- //{ID:500,keyword:"唤醒词",ASR:"小龟小车",ASRTO:"我在呢"}
- if(snid == 500){
- }
- //{ID:501,keyword:"唤醒词",ASR:"小龟",ASRTO:"我在呢"}
- if(snid == 501){
- }
- //{ID:502,keyword:"唤醒词",ASR:"小车",ASRTO:"我在呢"}
- if(snid == 502){
- }
- //{ID:503,keyword:"命令词",ASR:"前进",ASRTO:"开走喽"}
- if(snid == 503){
- digital_write(2,1);
- digital_write(3,0);
- digital_write(5,0);
- digital_write(6,1);
- }
- //{ID:504,keyword:"命令词",ASR:"后退",ASRTO:"注意,我倒车啦"}
- if(snid == 504){
- digital_write(2,0);
- digital_write(3,1);
- digital_write(5,1);
- digital_write(6,0);
- }
- //{ID:505,keyword:"命令词",ASR:"刹车",ASRTO:"好的,我停下"}
- if(snid == 505){
- digital_write(2,1);
- digital_write(3,1);
- digital_write(5,1);
- digital_write(6,1);
- }
- //{ID:506,keyword:"命令词",ASR:"右转",ASRTO:"行,我右拐弯了"}
- if(snid == 506){
- digital_write(2,1);
- digital_write(3,0);
- digital_write(5,1);
- digital_write(6,0);
- }
- //{ID:507,keyword:"命令词",ASR:"左转",ASRTO:"是,向左拐弯"}
- if(snid == 507){
- digital_write(2,0);
- digital_write(3,1);
- digital_write(5,0);
- digital_write(6,1);
- }
- //{ID:508,keyword:"命令词",ASR:"别开了",ASRTO:"好的,我停下"}
- if(snid == 508){
- digital_write(2,1);
- digital_write(3,1);
- digital_write(5,1);
- digital_write(6,1);
- }
- set_state_enter_wakeup(15000);
- }
- void setup()
- {
- digital_write(0, 0);
- set_gpio_input(1);
- digital_write(2, 0);
- digital_write(3, 0);
- set_gpio_input(4);
- digital_write(5, 0);
- digital_write(6, 0);
- set_gpio_input(13);
- set_gpio_input(14);
- set_gpio_input(20);
- }
复制代码
生成模型与编译烧录
实验记录视频
【ASR PRO离线语音控制的苗条小车】 https://www.bilibili.com/video/BV1cN4y1C7vS/?share_source=copy_web&vd_source=371a292a55e5ca9be994cbb4a86cc987
【最小轮子的ASR PRO离线语音苗条小车】 https://www.bilibili.com/video/BV1uB4y1o7Li/?share_source=copy_web&vd_source=371a292a55e5ca9be994cbb4a86cc987
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