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ESP IDF+行空板K10小智GPIO+360度舵机=自然语音控制的小车车 简单

头像 rzyzzxw 2025.10.02 34 0

10.2

国庆快乐

 

【目标任务】

这个帖子中，计划用VS Code基于ESP IDF修改小智源码，用行空板K10小智的两个全功能IO口外接两个360度舵机做一个自然语音控制的小车车。

8d1a326b1ff377fd8632c0a508134a7.jpg
5ab453ab63a208c157a56f2ef2ebb3a.jpg

本作业同样基于@闪电蘑菇大佬的视频教程开源的代码修改，致谢。【【小智AI】MCP神技解锁！语音自由控制舵机任意角度✨ (附源码解析)】 https://www.bilibili.com/video/BV1ng8gzHEuP/?share_source=copy_web&vd_source=bf02494b705eb3767ac801cc064e1021

 

作业测试视频：

因为我制作的小车没有给两个舵机独立供电，所以动力不强，要用较高速度才能使它灵活运动，同时舵机使用时间较长，性能下降，正反转速度有差异，所以前进后退走直线等问题要修改代码来解决。

建议使用两个性能相近的360舵机减少调试时间。

材料清单

  • 行空板K10 X1
  • 360度舵机 X2
  • 锂电池 X1
  • 小车车体+万向轮+车轮 X1

步骤1 组装小车与接线

用胶枪大法组装小车车。

1603fcac328a99999d3064d479f7250.jpg

硬件连接

左轮舵机信号线 GPIO1 --P0控制左轮速度和方向
右轮舵机信号线 GPIO2 --P1控制右轮速度和方向

软件环境
开发环境配置
安装VS Code + PlatformIO插件

配置ESP-IDF开发环境

克隆项目代码

项目依赖
ESP32-S3开发框架

LEDC PWM驱动

FreeRTOS实时操作系统

MCP（Model Context Protocol）服务

步骤2 代码逻辑

本项目基于ESP32-S3开发板，使用两个360度连续旋转舵机作为驱动轮，构建了一个可通过AI语音控制的智能小车。系统支持前进、后退、转向、原地旋转等基本运动功能。

使用方法
1. 基础控制命令
通过AI语音或MCP工具发送以下命令：

命令 功能 参数
self.car.forward 前进 speed: 0-100
self.car.backward 后退 speed: 0-100
self.car.turn_left 左转 speed: 0-100
self.car.turn_right 右转 speed: 0-100
self.car.pivot_left 原地左转 speed: 0-100
self.car.pivot_right 原地右转 speed: 0-100
self.car.stop 停止 无参数
self.car.set_speeds 独立控制 left_speed, right_speed
2. 语音控制示例
"让小车以100%的速度前进"
→ 调用：self.car.forward(speed=50)

"小车左转，速度80%"
→ 调用：self.car.turn_left(speed=30)

"立即停止小车"
→ 调用：self.car.stop()

代码结构

核心文件说明
├── config.h # 硬件引脚和参数配置
├── car_controller.h # 小车控制类声明
├── car_controller.cc # 小车控制实现
└── df_k10_board.cc # 系统主控板集成

1、config.h 硬件引脚和参数配置

我的舵机没用独立供电所以默认速度写成80。

image.png

代码
#ifndef _BOARD_CONFIG_H_
#define _BOARD_CONFIG_H_

#include <driver/gpio.h>

#define AUDIO_INPUT_SAMPLE_RATE  24000
#define AUDIO_OUTPUT_SAMPLE_RATE 24000

#define AUDIO_INPUT_REFERENCE    true

#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_3
#define AUDIO_I2S_GPIO_WS GPIO_NUM_38
#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_0
#define AUDIO_I2S_GPIO_DIN  GPIO_NUM_39
#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_45

#define AUDIO_CODEC_PA_PIN       GPIO_NUM_NC
#define AUDIO_CODEC_I2C_SDA_PIN  GPIO_NUM_47
#define AUDIO_CODEC_I2C_SCL_PIN  GPIO_NUM_48
#define AUDIO_CODEC_ES8311_ADDR  ES8311_CODEC_DEFAULT_ADDR
#define AUDIO_CODEC_ES7210_ADDR  0x23

#define BUILTIN_LED_GPIO        GPIO_NUM_46
#define BOOT_BUTTON_GPIO        GPIO_NUM_0
#define VOLUME_UP_BUTTON_GPIO   GPIO_NUM_NC
#define VOLUME_DOWN_BUTTON_GPIO GPIO_NUM_NC

/* Expander */
#define DRV_IO_EXP_INPUT_MASK  (IO_EXPANDER_PIN_NUM_2 | IO_EXPANDER_PIN_NUM_12)


#define DISPLAY_WIDTH   240
#define DISPLAY_HEIGHT  320
#define DISPLAY_MIRROR_X false
#define DISPLAY_MIRROR_Y true
#define DISPLAY_SWAP_XY false

#define DISPLAY_OFFSET_X  0
#define DISPLAY_OFFSET_Y  0

#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_NC
#define DISPLAY_BACKLIGHT_OUTPUT_INVERT false

/* DFRobot K10 Camera pins */
#define PWDN_GPIO_NUM       -1
#define RESET_GPIO_NUM      -1
#define XCLK_GPIO_NUM       7

#define VSYNC_GPIO_NUM      4
#define HREF_GPIO_NUM       5
#define PCLK_GPIO_NUM       17
#define SIOD_GPIO_NUM       20
#define SIOC_GPIO_NUM       19

/* Camera pins */
#define CAMERA_PIN_PWDN     PWDN_GPIO_NUM
#define CAMERA_PIN_RESET    RESET_GPIO_NUM
#define CAMERA_PIN_XCLK     XCLK_GPIO_NUM
#define CAMERA_PIN_SIOD     SIOD_GPIO_NUM
#define CAMERA_PIN_SIOC     SIOC_GPIO_NUM

#define CAMERA_PIN_D9       6
#define CAMERA_PIN_D8       15
#define CAMERA_PIN_D7       16
#define CAMERA_PIN_D6       18
#define CAMERA_PIN_D5       9
#define CAMERA_PIN_D4       11
#define CAMERA_PIN_D3       10
#define CAMERA_PIN_D2       8
#define CAMERA_PIN_VSYNC    VSYNC_GPIO_NUM
#define CAMERA_PIN_HREF     HREF_GPIO_NUM
#define CAMERA_PIN_PCLK     PCLK_GPIO_NUM

#define XCLK_FREQ_HZ 20000000

// 小车舵机控制引脚
#define SERVO_LEFT_GPIO GPIO_NUM_1
#define SERVO_RIGHT_GPIO GPIO_NUM_2

// 360度连续旋转舵机参数
#define SERVO_360_STOP_US 1500      // 停止脉宽 (1.5ms)
#define SERVO_360_FULL_CW_US 1300   // 全速顺时针 (1.3ms)
#define SERVO_360_FULL_CCW_US 1700  // 全速逆时针 (1.7ms)
#define SERVO_360_MIN_US 1000       // 最小脉宽 (1.0ms)
#define SERVO_360_MAX_US 2000       // 最大脉宽 (2.0ms)

// 小车运动参数
#define CAR_MAX_SPEED 100           // 最大速度 (百分比)
#define CAR_MIN_SPEED 0             // 最小速度
#define CAR_DEFAULT_SPEED 50        // 默认速度

#endif // _BOARD_CONFIG_H_

2、car_controller.h 小车控制类声明

image.png

代码
#ifndef __CAR_CONTROLLER_H__
#define __CAR_CONTROLLER_H__

#include <driver/ledc.h>
#include <driver/gpio.h>
#include <esp_log.h>
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>
#include <functional>
#include "config.h"
#include "mcp_server.h"

class CarController {
public:
    CarController(gpio_num_t left_servo_pin, gpio_num_t right_servo_pin);
    ~CarController();

    // 初始化方法
    bool Initialize();
    void InitializeTools();

    // 基本运动控制
    void MoveForward(int speed = CAR_DEFAULT_SPEED);
    void MoveBackward(int speed = CAR_DEFAULT_SPEED);
    void TurnLeft(int speed = CAR_DEFAULT_SPEED);
    void TurnRight(int speed = CAR_DEFAULT_SPEED);
    void Stop();
    void PivotLeft(int speed = CAR_DEFAULT_SPEED);  // 原地左转
    void PivotRight(int speed = CAR_DEFAULT_SPEED); // 原地右转

    // 高级运动控制
    void SetSpeeds(int left_speed, int right_speed);
    void Curve(int left_speed, int right_speed);
    
    // 状态查询
    bool IsMoving() const { return is_moving_; }
    int GetLeftSpeed() const { return left_speed_; }
    int GetRightSpeed() const { return right_speed_; }

private:
    // 硬件相关
    gpio_num_t left_servo_pin_;
    gpio_num_t right_servo_pin_;
    ledc_channel_t left_ledc_channel_;
    ledc_channel_t right_ledc_channel_;
    
    // 状态变量
    int left_speed_;
    int right_speed_;
    bool is_moving_;
    
    // 私有方法
    void WriteSpeed(gpio_num_t pin, ledc_channel_t channel, int speed);
    uint32_t SpeedToPulseWidth(int speed);
    int ConstrainSpeed(int speed) const;
    
    // 设置LEDC通道
    bool SetupServo(gpio_num_t pin, ledc_channel_t channel, ledc_timer_t timer);
};

#endif // __CAR_CONTROLLER_H__

3、car_controller.cc 小车控制实现

如果运动模式不对在下面这块代码中调整。

image.png

代码
#include "car_controller.h"
#include <cmath>

#define TAG "CarController"

CarController::CarController(gpio_num_t left_servo_pin, gpio_num_t right_servo_pin)
    : left_servo_pin_(left_servo_pin)
    , right_servo_pin_(right_servo_pin)
    , left_ledc_channel_(LEDC_CHANNEL_0)
    , right_ledc_channel_(LEDC_CHANNEL_1)
    , left_speed_(0)
    , right_speed_(0)
    , is_moving_(false) {
}

CarController::~CarController() {
    Stop();
}

bool CarController::Initialize() {
    ESP_LOGI(TAG, "初始化小车控制器");
    ESP_LOGI(TAG, "左轮舵机引脚: %d, 右轮舵机引脚: %d", left_servo_pin_, right_servo_pin_);
    
    // 配置LEDC定时器 (两个舵机共用同一个定时器)
    ledc_timer_config_t timer_config = {
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .duty_resolution = LEDC_TIMER_14_BIT,
        .timer_num = LEDC_TIMER_0,
        .freq_hz = 50, // 50Hz for servo
        .clk_cfg = LEDC_AUTO_CLK
    };
    
    esp_err_t ret = ledc_timer_config(&timer_config);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "LEDC定时器配置失败: %s", esp_err_to_name(ret));
        return false;
    }
    
    // 设置左轮舵机
    if (!SetupServo(left_servo_pin_, left_ledc_channel_, LEDC_TIMER_0)) {
        ESP_LOGE(TAG, "左轮舵机配置失败");
        return false;
    }
    
    // 设置右轮舵机
    if (!SetupServo(right_servo_pin_, right_ledc_channel_, LEDC_TIMER_0)) {
        ESP_LOGE(TAG, "右轮舵机配置失败");
        return false;
    }
    
    // 初始停止状态
    Stop();
    
    ESP_LOGI(TAG, "小车控制器初始化成功");
    return true;
}

bool CarController::SetupServo(gpio_num_t pin, ledc_channel_t channel, ledc_timer_t timer) {
    ledc_channel_config_t channel_config = {
        .gpio_num = pin,
        .speed_mode = LEDC_LOW_SPEED_MODE,
        .channel = channel,
        .intr_type = LEDC_INTR_DISABLE,
        .timer_sel = timer,
        .duty = 0,
        .hpoint = 0
    };
    
    esp_err_t ret = ledc_channel_config(&channel_config);
    if (ret != ESP_OK) {
        ESP_LOGE(TAG, "LEDC通道配置失败: %s", esp_err_to_name(ret));
        return false;
    }
    
    return true;
}

void CarController::InitializeTools() {
    auto& mcp_server = McpServer::GetInstance();
    ESP_LOGI(TAG, "开始注册小车MCP工具...");

    // 前进
    mcp_server.AddTool("self.car.forward",
                       "控制小车前进。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           MoveForward(speed);
                           return "小车前进，速度: " + std::to_string(speed) + "%";
                       });

    // 后退
    mcp_server.AddTool("self.car.backward",
                       "控制小车后退。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           MoveBackward(speed);
                           return "小车后退，速度: " + std::to_string(speed) + "%";
                       });

    // 左转
    mcp_server.AddTool("self.car.turn_left",
                       "控制小车左转。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           TurnLeft(speed);
                           return "小车左转，速度: " + std::to_string(speed) + "%";
                       });

    // 右转
    mcp_server.AddTool("self.car.turn_right",
                       "控制小车右转。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           TurnRight(speed);
                           return "小车右转，速度: " + std::to_string(speed) + "%";
                       });

    // 停止
    mcp_server.AddTool("self.car.stop",
                       "立即停止小车",
                       PropertyList(),
                       [this](const PropertyList& properties) -> ReturnValue {
                           Stop();
                           return "小车已停止";
                       });

    // 原地左转
    mcp_server.AddTool("self.car.pivot_left",
                       "小车原地左转。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           PivotLeft(speed);
                           return "小车原地左转，速度: " + std::to_string(speed) + "%";
                       });

    // 原地右转
    mcp_server.AddTool("self.car.pivot_right",
                       "小车原地右转。speed: 速度百分比(0-100)",
                       PropertyList({Property("speed", kPropertyTypeInteger, CAR_DEFAULT_SPEED, 0, 100)}),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int speed = properties["speed"].value<int>();
                           PivotRight(speed);
                           return "小车原地右转，速度: " + std::to_string(speed) + "%";
                       });

    // 设置独立速度
    mcp_server.AddTool("self.car.set_speeds",
                       "独立设置左右轮速度。left_speed: 左轮速度(-100到100), right_speed: 右轮速度(-100到100)",
                       PropertyList({
                           Property("left_speed", kPropertyTypeInteger, 0, -100, 100),
                           Property("right_speed", kPropertyTypeInteger, 0, -100, 100)
                       }),
                       [this](const PropertyList& properties) -> ReturnValue {
                           int left_speed = properties["left_speed"].value<int>();
                           int right_speed = properties["right_speed"].value<int>();
                           SetSpeeds(left_speed, right_speed);
                           return "设置速度 - 左轮: " + std::to_string(left_speed) + "%, 右轮: " + std::to_string(right_speed) + "%";
                       });

    // 获取状态
    mcp_server.AddTool("self.car.get_status",
                       "获取小车当前状态",
                       PropertyList(),
                       [this](const PropertyList& properties) -> ReturnValue {
                           std::string status = "{\"left_speed\":" + std::to_string(left_speed_) +
                                              ",\"right_speed\":" + std::to_string(right_speed_) +
                                              ",\"moving\":" + (is_moving_ ? "true" : "false") + "}";
                           return status;
                       });

    ESP_LOGI(TAG, "小车MCP工具注册完成");
}

void CarController::MoveForward(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "前进，速度: %d%%", speed);
    SetSpeeds(-speed, speed);
}

void CarController::MoveBackward(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "后退，速度: %d%%", speed);
    SetSpeeds(speed, -speed);
}

void CarController::TurnLeft(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "左转，速度: %d%%", speed);
    SetSpeeds(-speed / 2, speed); // 右轮快，左轮慢
}

void CarController::TurnRight(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "右转，速度: %d%%", speed);
    SetSpeeds(-speed, speed / 2); // 左轮快，右轮慢
}

void CarController::PivotLeft(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "原地左转，速度: %d%%", speed);
    SetSpeeds(speed, speed); // 左轮后退，右轮前进
}

void CarController::PivotRight(int speed) {
    speed = ConstrainSpeed(speed);
    ESP_LOGI(TAG, "原地右转，速度: %d%%", speed);
    SetSpeeds(-speed, -speed); // 左轮前进，右轮后退
}

void CarController::Stop() {
    ESP_LOGI(TAG, "停止");
    SetSpeeds(0, 0);
}

void CarController::SetSpeeds(int left_speed, int right_speed) {
    left_speed_ = ConstrainSpeed(left_speed);
    right_speed_ = ConstrainSpeed(right_speed);
    
    is_moving_ = (left_speed_ != 0 || right_speed_ != 0);
    
    WriteSpeed(left_servo_pin_, left_ledc_channel_, left_speed_);
    WriteSpeed(right_servo_pin_, right_ledc_channel_, right_speed_);
    
    ESP_LOGI(TAG, "设置速度 - 左轮: %d%%, 右轮: %d%%", left_speed_, right_speed_);
}

void CarController::Curve(int left_speed, int right_speed) {
    SetSpeeds(left_speed, right_speed);
}

void CarController::WriteSpeed(gpio_num_t pin, ledc_channel_t channel, int speed) {
    uint32_t pulse_width = SpeedToPulseWidth(speed);
    ledc_set_duty(LEDC_LOW_SPEED_MODE, channel, pulse_width);
    ledc_update_duty(LEDC_LOW_SPEED_MODE, channel);
}

uint32_t CarController::SpeedToPulseWidth(int speed) {
    // 速度范围: -100 到 100
    // 对应脉宽: 1700us 到 1300us (1.7ms 到 1.3ms)
    // 停止: 1500us (1.5ms)
    
    float pulse_width_us;
    
    if (speed == 0) {
        pulse_width_us = SERVO_360_STOP_US;
    } else if (speed > 0) {
        // 正向速度: 0-100 -> 1500-1300us
        pulse_width_us = SERVO_360_STOP_US - (speed / 100.0f) * (SERVO_360_STOP_US - SERVO_360_FULL_CW_US);
    } else {
        // 反向速度: 0-(-100) -> 1500-1700us
        pulse_width_us = SERVO_360_STOP_US + (abs(speed) / 100.0f) * (SERVO_360_FULL_CCW_US - SERVO_360_STOP_US);
    }
    
    // 限制在安全范围内
    if (pulse_width_us < SERVO_360_MIN_US) pulse_width_us = SERVO_360_MIN_US;
    if (pulse_width_us > SERVO_360_MAX_US) pulse_width_us = SERVO_360_MAX_US;
    
    // 转换为14位PWM比较值
    float duty_cycle = pulse_width_us / 20000.0f; // 20ms周期
    uint32_t compare_value = (uint32_t)(duty_cycle * 16383.0f);
    
    ESP_LOGD(TAG, "速度 %d%% -> 脉宽 %.1fus -> 比较值 %lu", speed, pulse_width_us, compare_value);
    
    return compare_value;
}

int CarController::ConstrainSpeed(int speed) const {
    if (speed < -CAR_MAX_SPEED) return -CAR_MAX_SPEED;
    if (speed > CAR_MAX_SPEED) return CAR_MAX_SPEED;
    return speed;
}

4、df_k10_board.cc 系统主控板集成

开头导入控制类声明文件

image.png

控制器成员变量声明

image.png

初始化函数

image.png

IoT功能初始化中的小车注册

image.png

构造函数中的初始化调用

image.png

析构函数中的资源清理

image.png

代码
#include "wifi_board.h"
#include "k10_audio_codec.h"
#include "display/lcd_display.h"
#include "esp_lcd_ili9341.h"
#include "led_control.h"
#include "font_awesome_symbols.h"
#include "application.h"
#include "button.h"
#include "config.h"
#include "esp32_camera.h"

#include "led/circular_strip.h"
#include "assets/lang_config.h"

#include <esp_log.h>
#include <esp_lcd_panel_vendor.h>
#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <wifi_station.h>

#include "esp_io_expander_tca95xx_16bit.h"
#include "car_controller.h"  // car控制类声明

#define TAG "DF-K10"

LV_FONT_DECLARE(font_puhui_20_4);
LV_FONT_DECLARE(font_awesome_20_4);

class Df_K10Board : public WifiBoard {
private:
    i2c_master_bus_handle_t i2c_bus_;
    esp_io_expander_handle_t io_expander;
    LcdDisplay *display_;
    button_handle_t btn_a;
    button_handle_t btn_b;
    Esp32Camera* camera_;
    CarController* car_controller_;  // 小车控制器

    button_driver_t* btn_a_driver_ = nullptr;
    button_driver_t* btn_b_driver_ = nullptr;

    CircularStrip* led_strip_;

    static Df_K10Board* instance_;

    void InitializeI2c() {
        // Initialize I2C peripheral
        i2c_master_bus_config_t i2c_bus_cfg = {
                .i2c_port = (i2c_port_t)1,
                .sda_io_num = AUDIO_CODEC_I2C_SDA_PIN,
                .scl_io_num = AUDIO_CODEC_I2C_SCL_PIN,
                .clk_source = I2C_CLK_SRC_DEFAULT,
                .glitch_ignore_cnt = 7,
                .intr_priority = 0,
                .trans_queue_depth = 0,
                .flags = {
                                .enable_internal_pullup = 1,
                        },
        };
        ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
    }

    void InitializeSpi() {
        spi_bus_config_t buscfg = {};
        buscfg.mosi_io_num = GPIO_NUM_21;
        buscfg.miso_io_num = GPIO_NUM_NC;
        buscfg.sclk_io_num = GPIO_NUM_12;
        buscfg.quadwp_io_num = GPIO_NUM_NC;
        buscfg.quadhd_io_num = GPIO_NUM_NC;
        buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t);
        ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO));
    }

    esp_err_t IoExpanderSetLevel(uint16_t pin_mask, uint8_t level) {
        return esp_io_expander_set_level(io_expander, pin_mask, level);
    }

    uint8_t IoExpanderGetLevel(uint16_t pin_mask) {
        uint32_t pin_val = 0;
        esp_io_expander_get_level(io_expander, DRV_IO_EXP_INPUT_MASK, &pin_val);
        pin_mask &= DRV_IO_EXP_INPUT_MASK;
        return (uint8_t)((pin_val & pin_mask) ? 1 : 0);
    }

    void InitializeIoExpander() {
        esp_io_expander_new_i2c_tca95xx_16bit(
                i2c_bus_, ESP_IO_EXPANDER_I2C_TCA9555_ADDRESS_000, &io_expander);

        esp_err_t ret;
        ret = esp_io_expander_print_state(io_expander);
        if (ret != ESP_OK) {
            ESP_LOGE(TAG, "Print state failed: %s", esp_err_to_name(ret));
        }
        ret = esp_io_expander_set_dir(io_expander, IO_EXPANDER_PIN_NUM_0,
                                                                    IO_EXPANDER_OUTPUT);
        if (ret != ESP_OK) {
            ESP_LOGE(TAG, "Set direction failed: %s", esp_err_to_name(ret));
        }
        ret = esp_io_expander_set_level(io_expander, 0, 1);
        if (ret != ESP_OK) {
            ESP_LOGE(TAG, "Set level failed: %s", esp_err_to_name(ret));
        }
        ret = esp_io_expander_set_dir(
                io_expander, DRV_IO_EXP_INPUT_MASK,
                IO_EXPANDER_INPUT);
        if (ret != ESP_OK) {
            ESP_LOGE(TAG, "Set direction failed: %s", esp_err_to_name(ret));
        }
    }

    void InitializeButtons() {
        instance_ = this;

        // Button A
        button_config_t btn_a_config = {
            .long_press_time = 1000,
            .short_press_time = 0
        };
        btn_a_driver_ = (button_driver_t*)calloc(1, sizeof(button_driver_t));
        btn_a_driver_->enable_power_save = false;
        btn_a_driver_->get_key_level = [](button_driver_t *button_driver) -> uint8_t {
            return !instance_->IoExpanderGetLevel(IO_EXPANDER_PIN_NUM_2);
        };
        ESP_ERROR_CHECK(iot_button_create(&btn_a_config, btn_a_driver_, &btn_a));
        iot_button_register_cb(btn_a, BUTTON_SINGLE_CLICK, nullptr, [](void* button_handle, void* usr_data) {
            auto self = static_cast<Df_K10Board*>(usr_data);
            auto& app = Application::GetInstance();
            if (app.GetDeviceState() == kDeviceStateStarting && !WifiStation::GetInstance().IsConnected()) {
                self->ResetWifiConfiguration();
            }
            app.ToggleChatState();
        }, this);
        iot_button_register_cb(btn_a, BUTTON_LONG_PRESS_START, nullptr, [](void* button_handle, void* usr_data) {
            auto self = static_cast<Df_K10Board*>(usr_data);
            auto codec = self->GetAudioCodec();
            auto volume = codec->output_volume() - 10;
            if (volume < 0) {
                volume = 0;
            }
            codec->SetOutputVolume(volume);
            self->GetDisplay()->ShowNotification(Lang::Strings::VOLUME + std::to_string(volume));
        }, this);

        // Button B
        button_config_t btn_b_config = {
            .long_press_time = 1000,
            .short_press_time = 0
        };
        btn_b_driver_ = (button_driver_t*)calloc(1, sizeof(button_driver_t));
        btn_b_driver_->enable_power_save = false;
        btn_b_driver_->get_key_level = [](button_driver_t *button_driver) -> uint8_t {
            return !instance_->IoExpanderGetLevel(IO_EXPANDER_PIN_NUM_12);
        };
        ESP_ERROR_CHECK(iot_button_create(&btn_b_config, btn_b_driver_, &btn_b));
        iot_button_register_cb(btn_b, BUTTON_SINGLE_CLICK, nullptr, [](void* button_handle, void* usr_data) {
            auto self = static_cast<Df_K10Board*>(usr_data);
            auto& app = Application::GetInstance();
            if (app.GetDeviceState() == kDeviceStateStarting && !WifiStation::GetInstance().IsConnected()) {
                self->ResetWifiConfiguration();
            }
            app.ToggleChatState();
        }, this);
        iot_button_register_cb(btn_b, BUTTON_LONG_PRESS_START, nullptr, [](void* button_handle, void* usr_data) {
            auto self = static_cast<Df_K10Board*>(usr_data);
            auto codec = self->GetAudioCodec();
            auto volume = codec->output_volume() + 10;
            if (volume > 100) {
                volume = 100;
            }
            codec->SetOutputVolume(volume);
            self->GetDisplay()->ShowNotification(Lang::Strings::VOLUME + std::to_string(volume));
        }, this);
    }

    void InitializeCamera() {
        camera_config_t config = {};
        config.ledc_channel = LEDC_CHANNEL_2;   // LEDC通道选择  用于生成XCLK时钟 但是S3不用
        config.ledc_timer = LEDC_TIMER_2;       // LEDC timer选择  用于生成XCLK时钟 但是S3不用
        config.pin_d0 = CAMERA_PIN_D2;
        config.pin_d1 = CAMERA_PIN_D3;
        config.pin_d2 = CAMERA_PIN_D4;
        config.pin_d3 = CAMERA_PIN_D5;
        config.pin_d4 = CAMERA_PIN_D6;
        config.pin_d5 = CAMERA_PIN_D7;
        config.pin_d6 = CAMERA_PIN_D8;
        config.pin_d7 = CAMERA_PIN_D9;
        config.pin_xclk = CAMERA_PIN_XCLK;
        config.pin_pclk = CAMERA_PIN_PCLK;
        config.pin_vsync = CAMERA_PIN_VSYNC;
        config.pin_href = CAMERA_PIN_HREF;
        config.pin_sccb_sda = -1;  // 这里如果写-1 表示使用已经初始化的I2C接口
        config.pin_sccb_scl = CAMERA_PIN_SIOC;
        config.sccb_i2c_port = 1;               //  这里如果写1 默认使用I2C1
        config.pin_pwdn = CAMERA_PIN_PWDN;
        config.pin_reset = CAMERA_PIN_RESET;
        config.xclk_freq_hz = XCLK_FREQ_HZ;
        config.pixel_format = PIXFORMAT_RGB565;
        config.frame_size = FRAMESIZE_VGA;
        config.jpeg_quality = 12;
        config.fb_count = 1;
        config.fb_location = CAMERA_FB_IN_PSRAM;
        config.grab_mode = CAMERA_GRAB_WHEN_EMPTY;

        camera_ = new Esp32Camera(config);
    }

    void InitializeIli9341Display() {
        esp_lcd_panel_io_handle_t panel_io = nullptr;
        esp_lcd_panel_handle_t panel = nullptr;

        // 液晶屏控制IO初始化
        ESP_LOGD(TAG, "Install panel IO");
        esp_lcd_panel_io_spi_config_t io_config = {};
        io_config.cs_gpio_num = GPIO_NUM_14;
        io_config.dc_gpio_num = GPIO_NUM_13;
        io_config.spi_mode = 0;
        io_config.pclk_hz = 40 * 1000 * 1000;
        io_config.trans_queue_depth = 10;
        io_config.lcd_cmd_bits = 8;
        io_config.lcd_param_bits = 8;
        ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io));

        // 初始化液晶屏驱动芯片
        ESP_LOGD(TAG, "Install LCD driver");
        esp_lcd_panel_dev_config_t panel_config = {};
        panel_config.reset_gpio_num = GPIO_NUM_NC;
        panel_config.bits_per_pixel = 16;
        panel_config.color_space = ESP_LCD_COLOR_SPACE_BGR;

        ESP_ERROR_CHECK(esp_lcd_new_panel_ili9341(panel_io, &panel_config, &panel));
        ESP_ERROR_CHECK(esp_lcd_panel_reset(panel));
        ESP_ERROR_CHECK(esp_lcd_panel_init(panel));
        ESP_ERROR_CHECK(esp_lcd_panel_invert_color(panel, DISPLAY_BACKLIGHT_OUTPUT_INVERT));
        ESP_ERROR_CHECK(esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY));
        ESP_ERROR_CHECK(esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y));
        ESP_ERROR_CHECK(esp_lcd_panel_disp_on_off(panel, true));

        display_ = new SpiLcdDisplay(panel_io, panel,
                                DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY,
                                {
                                        .text_font = &font_puhui_20_4,
                                        .icon_font = &font_awesome_20_4,
                                        .emoji_font = font_emoji_64_init(),
                                });
    }

    void InitializeCarController() {
        ESP_LOGI(TAG, "初始化两轮小车控制器");
        car_controller_ = new CarController(SERVO_LEFT_GPIO, SERVO_RIGHT_GPIO);
        
        if (!car_controller_->Initialize()) {
            ESP_LOGE(TAG, "小车控制器初始化失败");
            delete car_controller_;
            car_controller_ = nullptr;
            return;
        }

        ESP_LOGI(TAG, "两轮小车控制器初始化完成");
    }

    // 物联网初始化，添加对 AI 可见设备
    void InitializeIot() {
        led_strip_ = new CircularStrip(BUILTIN_LED_GPIO, 3);
        new LedStripControl(led_strip_);
        // 注册小车MCP工具
        if (car_controller_ != nullptr) {
            car_controller_->InitializeTools();
        }
    }

public:
    Df_K10Board() :
        car_controller_(nullptr) {
        InitializeI2c();
        InitializeIoExpander();
        InitializeSpi();
        InitializeIli9341Display();
        InitializeButtons();
        InitializeCarController();  // 添加小车初始化
        InitializeIot();
        InitializeCamera();
    }
    
    virtual ~Df_K10Board() {
        if (car_controller_) {
            delete car_controller_;
        }        
    }

    virtual Led* GetLed() override {
        return led_strip_;
    }

    virtual AudioCodec *GetAudioCodec() override {
        static K10AudioCodec audio_codec(
                    i2c_bus_,
                    AUDIO_INPUT_SAMPLE_RATE,
                    AUDIO_OUTPUT_SAMPLE_RATE,
                    AUDIO_I2S_GPIO_MCLK,
                    AUDIO_I2S_GPIO_BCLK,
                    AUDIO_I2S_GPIO_WS,
                    AUDIO_I2S_GPIO_DOUT,
                    AUDIO_I2S_GPIO_DIN,
                    AUDIO_CODEC_PA_PIN,
                    AUDIO_CODEC_ES8311_ADDR,
                    AUDIO_CODEC_ES7210_ADDR,
                    AUDIO_INPUT_REFERENCE);
        return &audio_codec;
    }

    virtual Camera* GetCamera() override {
        return camera_;
    }

    virtual Display *GetDisplay() override {
        return display_;
    }
};

DECLARE_BOARD(Df_K10Board);

Df_K10Board* Df_K10Board::instance_ = nullptr;

【小结】

本作业展示了如何将普通的360度舵机改造成智能小车的驱动系统，通过ESP32的精确PWM控制和MCP协议的AI集成，实现了语音控制的智能移动平台。

同时，语音控制在噪声大的小车运行环境中会显得比较耳背哦。

 

感谢DeepSeek在代码编写中的支持。

Makelog作者原创文章，未经授权禁止转载。
#Arduino#行空板K10#人工智能#物联网#DFRobot

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rzyzzxw
rzyzzxw2018.06.05
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