roco小智和DF L298N驱动模块双电机小车的故事- Makelog(造物记)

8.25

【写在前面】

这个帖子是体验ROCO小智物联控制GPIO外接硬件*LED/舵机/继电器- Makelog(造物记)的续集。我们可以看到，roco小智有了新本领，它不仅一个可以聊天，而且还可以控制引脚上LED、舵机、继电器等，这一帖子，记录roco小智控制双电机的转动，就是一个小车啦。

所用的软件是编程狮roco，所以我把这个手搓的小智也叫做roco小智。

roco小智的搭建物料和接线图记录在上一帖子中了，所以这里直接引线到电机驱动模块，控制两个电机。

材料清单

roco小智 X1
L298N直流电机驱动模块DF-MD X1 链接
TT电机 X2
小车底盘 X1

步骤1 roco小智双电机小车的接线

先来熟悉一下DF的L298电机驱动模块：

详细资料：直流电机驱动、L298N、产品简介、产品参数、使用说明、应用样例

我的接线图：

E1------IO1

M1-----IO2

E2------IO11

M2-----IO12

GND---GND

VD-----5Vin

组装完成的小车，这个样子：

步骤2 编写程序

从roco小智基础程序上增加电机控制功能。

要加载本地物联库。

对引脚上设备的控制，就在这里面。

编写程序如下：

自定义模块：

代码中修改IO48为IO45。

代码

//代码部分
#include <Arduino.h>
#include "RoCoAI.h"
#include "oleddisplay.h"


  constexpr gpio_num_t kMicPinBclk = GPIO_NUM_42;
  constexpr gpio_num_t kMicPinWs = GPIO_NUM_40;
  constexpr gpio_num_t kMicPinDin = GPIO_NUM_41;
  constexpr gpio_num_t kSpeakerPinBclk = GPIO_NUM_47;
  constexpr gpio_num_t kSpeakerPinWs = GPIO_NUM_45;
  constexpr gpio_num_t kSpeakerPinDout = GPIO_NUM_21;
  constexpr gpio_num_t kTriggerPin = GPIO_NUM_0;
  const char* kWifiSsid ="CMCC-QuYY";
  const char* kWifiPassword ="qmsjyff2025";
  AiVoxCore* g_ai_vox = nullptr;


constexpr gpio_num_t kI2cPinSda = GPIO_NUM_8;
constexpr gpio_num_t kI2cPinScl = GPIO_NUM_9;


constexpr uint32_t kDisplayWidth = 128;
constexpr uint32_t kDisplayHeight = 64;
constexpr bool kDisplayMirrorX = true;
constexpr bool kDisplayMirrorY = true;
constexpr uint8_t kI2cAddress = 0x3C;

std::shared_ptr<ai_vox::iot::Entity> g_car_forward_entity;
std::shared_ptr<ai_vox::iot::Entity> g_car_backward_entity;
std::shared_ptr<ai_vox::iot::Entity> g_car_left_entity;
std::shared_ptr<ai_vox::iot::Entity> g_car_right_entity;
using ChatState = AiVoxCore::ChatState;
void handleStateChange(ChatState old_state, ChatState new_state) {
      if (new_state == ChatState::kConnecting) {
        OLEDDisplay::ShowStatus("连接中");
        ledcWrite(4, 50);
        ledcWrite(5, 50);
        ledcWrite(6, 0);
      }
      if (new_state == ChatState::kStandby) {
        OLEDDisplay::ShowStatus("等待中");
        ledcWrite(4, 0);
        ledcWrite(5, 50);
        ledcWrite(6, 0);
      }
      if (new_state == ChatState::kListening) {
        OLEDDisplay::ShowStatus("聆听中");
        ledcWrite(4, 50);
        ledcWrite(5, 0);
        ledcWrite(6, 50);
      }
      if (new_state == ChatState::kSpeaking) {
        OLEDDisplay::ShowStatus("说话中");
        ledcWrite(4, 0);
        ledcWrite(5, 0);
        ledcWrite(6, 50);
      }

    }
void handleChatMessage(const std::string& role, const std::string& content) {
      OLEDDisplay::SetChatMessage(content.c_str());

    }
void handleEmotion(const std::string& emotion) {
      OLEDDisplay::SetEmotion(emotion.c_str());

    }
void handleIotControl(const std::string& name,const std::string& function,const std::map<std::string, ai_vox::iot::Value>& params){
    if (name == "car_forward" && function == "前进时间0-10秒") {
    g_car_forward_entity->UpdateState("brightness", std::get<int64_t>(params.at("level")));
    _E5_89_8D_E8_BF_9B_N_N(255, std::get<int64_t>(params.at("level")));
    }
    if (name == "car_backward" && function == "后退时间0-10秒") {
    g_car_backward_entity->UpdateState("brightness", std::get<int64_t>(params.at("level")));
    _E5_90_8E_E9_80_80_N_N(255, std::get<int64_t>(params.at("level")));
    }
    if (name == "car_left" && function == "左转时间0-10秒") {
    g_car_left_entity->UpdateState("brightness", std::get<int64_t>(params.at("level")));
    _E5_B7_A6_E8_BD_AC_N_N(255, std::get<int64_t>(params.at("level")));
    }
    if (name == "car_right" && function == "右转时间0-10秒") {
    g_car_right_entity->UpdateState("brightness", std::get<int64_t>(params.at("level")));
    _E5_8F_B3_E8_BD_AC_N_N(255, std::get<int64_t>(params.at("level")));
    }
}

void _E5_89_8D_E8_BF_9B_N_N(float _E9_80_9F_E5_BA_A6, float _E6_97_B6_E9_97_B4) {
  ledcWrite(1, _E9_80_9F_E5_BA_A6);
  digitalWrite(2, LOW);
  ledcWrite(11, _E9_80_9F_E5_BA_A6);
  digitalWrite(12, LOW);
  delay(_E6_97_B6_E9_97_B4 * 1000);
  ledcWrite(1, 0);
  ledcWrite(11, 0);
}

void _E5_90_8E_E9_80_80_N_N(float _E9_80_9F_E5_BA_A6, float _E6_97_B6_E9_97_B4) {
  ledcWrite(1, _E9_80_9F_E5_BA_A6);
  digitalWrite(2, HIGH);
  ledcWrite(11, _E9_80_9F_E5_BA_A6);
  digitalWrite(12, HIGH);
  delay(_E6_97_B6_E9_97_B4 * 1000);
  ledcWrite(1, 0);
  ledcWrite(11, 0);
}

void _E5_B7_A6_E8_BD_AC_N_N(float _E9_80_9F_E5_BA_A6, float _E6_97_B6_E9_97_B4) {
  ledcWrite(1, _E9_80_9F_E5_BA_A6);
  digitalWrite(2, LOW);
  ledcWrite(11, _E9_80_9F_E5_BA_A6);
  digitalWrite(12, HIGH);
  delay(_E6_97_B6_E9_97_B4 * 1000);
  ledcWrite(1, 0);
  ledcWrite(11, 0);
}

void _E5_8F_B3_E8_BD_AC_N_N(float _E9_80_9F_E5_BA_A6, float _E6_97_B6_E9_97_B4) {
  ledcWrite(1, _E9_80_9F_E5_BA_A6);
  digitalWrite(2, HIGH);
  ledcWrite(11, _E9_80_9F_E5_BA_A6);
  digitalWrite(12, LOW);
  delay(_E6_97_B6_E9_97_B4 * 1000);
  ledcWrite(1, 0);
  ledcWrite(11, 0);
}

void setupIotDevices() {
  std::vector<ai_vox::iot::Property> car_forward_props{
          {"brightness", "小车前进运动时间", ai_vox::iot::ValueType::kNumber}
          };

        std::vector<ai_vox::iot::Function> car_forward_funcs{
          {"前进时间0-10秒", "前进时间0-10秒", {
              {"level", "前进时间0-10秒", ai_vox::iot::ValueType::kNumber}
          }}
          };

        g_car_forward_entity = std::make_shared<ai_vox::iot::Entity>(
              "car_forward",
              "car_forward设备属性",
              car_forward_props,
              car_forward_funcs
          );

          g_car_forward_entity->UpdateState("brightness", 0);
          g_ai_vox->registerIotDevice(g_car_forward_entity);

  std::vector<ai_vox::iot::Property> car_backward_props{
          {"brightness", "小车后退运动时间", ai_vox::iot::ValueType::kNumber}
          };

        std::vector<ai_vox::iot::Function> car_backward_funcs{
          {"后退时间0-10秒", "后退时间0-10秒", {
              {"level", "后退时间0-10秒", ai_vox::iot::ValueType::kNumber}
          }}
          };

        g_car_backward_entity = std::make_shared<ai_vox::iot::Entity>(
              "car_backward",
              "car_backward设备属性",
              car_backward_props,
              car_backward_funcs
          );

          g_car_backward_entity->UpdateState("brightness", 0);
          g_ai_vox->registerIotDevice(g_car_backward_entity);

  std::vector<ai_vox::iot::Property> car_left_props{
          {"brightness", "小车左转运动时间", ai_vox::iot::ValueType::kNumber}
          };

        std::vector<ai_vox::iot::Function> car_left_funcs{
          {"左转时间0-10秒", "左转时间0-10秒", {
              {"level", "左转时间0-10秒", ai_vox::iot::ValueType::kNumber}
          }}
          };

        g_car_left_entity = std::make_shared<ai_vox::iot::Entity>(
              "car_left",
              "car_left设备属性",
              car_left_props,
              car_left_funcs
          );

          g_car_left_entity->UpdateState("brightness", 0);
          g_ai_vox->registerIotDevice(g_car_left_entity);

  std::vector<ai_vox::iot::Property> car_right_props{
          {"brightness", "小车右转运动时间", ai_vox::iot::ValueType::kNumber}
          };

        std::vector<ai_vox::iot::Function> car_right_funcs{
          {"右转时间0-10秒", "右转时间0-10秒", {
              {"level", "右转时间0-10秒", ai_vox::iot::ValueType::kNumber}
          }}
          };

        g_car_right_entity = std::make_shared<ai_vox::iot::Entity>(
              "car_right",
              "car_right设备属性",
              car_right_props,
              car_right_funcs
          );

          g_car_right_entity->UpdateState("brightness", 0);
          g_ai_vox->registerIotDevice(g_car_right_entity);
}

void setup() {
  AiVoxCore::AudioConfig audio_config{kMicPinBclk, kMicPinWs, kMicPinDin,kSpeakerPinBclk, kSpeakerPinWs, kSpeakerPinDout};
  g_ai_vox = new AiVoxCore(audio_config, kTriggerPin, kWifiSsid, kWifiPassword,true);
  OLEDDisplay::Init(kI2cPinSda, kI2cPinScl, kDisplayWidth, kDisplayHeight, kDisplayMirrorX, kDisplayMirrorY, kI2cAddress);
  ledcAttachChannel(4, 5000, 8, 0);
  ledcAttachChannel(5, 5000, 8, 1);
  ledcAttachChannel(6, 5000, 8, 2);
  g_ai_vox->onStateChange(handleStateChange);
  g_ai_vox->onChatMessage(handleChatMessage);
  g_ai_vox->onEmotion(handleEmotion);
  g_ai_vox->onIotControl(handleIotControl);
  ledcAttachChannel(1, 5000, 8, 3);
  pinMode(2, OUTPUT);
  ledcAttachChannel(11, 5000, 8, 4);
  pinMode(12, OUTPUT);
  setupIotDevices();
  g_ai_vox->begin();
}

void loop() {
  repeat();
}

void repeat() {
  g_ai_vox->update();
}

【小结】

图形化小智，蛮有趣的，大大减少了编程难度。

roco小智和DF L298N驱动模块 双电机小车的故事 简单

roco小智和DF L298N驱动模块双电机小车的故事简单