小智物联网开发：为小智安装“机械臂“(其实就是加个舵机进行语音控制)

小智物联网开发：打造专属智能助手，开启智能生活新纪元

在物联网蓬勃发展的今天，小智物联网开发正引领着一股创新浪潮，为我们的生活和工作带来前所未有的便利与智能体验。今天，就让我们一起深入探索小智物联网开发的魅力所在。

项目概述

小智物联网开发是一个专注于打造智能、便捷生活体验的创新项目。它以ESP32开发板为核心，融合了先进的语音识别、人工智能以及物联网技术，旨在为用户提供一个可定制化的智能助手解决方案。通过简单的硬件搭建和软件配置，用户能够轻松实现智能家居控制、语音交互等多种功能，让科技真正融入日常生活。

基于小智当前的代码开发属于自己的小智机器人

第一步：关闭小智的自我更新机制

为了确保我们烧入的自定义代码不会被小智的自我更新机制所覆盖，我们需要先关闭其自我更新功能。具体操作是注释掉xiaozhi-esp32-main\main\application.cc中的以下代码：

	ota_.SetCheckVersionUrl(CONFIG_OTA_VERSION_URL);
    ota_.SetHeader("Device-Id", SystemInfo::GetMacAddress().c_str());
    ota_.SetHeader("Client-Id", board.GetUuid());
    ota_.SetHeader("X-Language", Lang::CODE);

    xTaskCreate([](void* arg) { // 创建检查新版本的任务
        Application* app = (Application*)arg;
        app->CheckNewVersion();
        vTaskDelete(NULL);
    }, "check_new_version", 4096 * 2, this, 1, nullptr);

完成上述操作后，重新为ESP32S3烧录版本，这样小智就不会再进行自动更新了。

第二步：添加自己的物联网设备——以添加舵机为例

为了让小智具备更多的功能，我们可以为其添加物联网设备。这里以添加舵机作为小智的手臂为例，详细说明操作步骤。

1. 创建舵机控制文件

在路径xiaozhi-esp32-main\main\iot\things下添加一个名为arm.cc的文件，其内容如下：

#include "iot/thing.h"
#include "board.h"
#include <driver/gpio.h>
#include <esp_log.h>
#include "esp_err.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/semphr.h"
#include "driver/mcpwm_prelude.h"

#define TAG "Arm"

#define SERVO_MIN_PULSEWIDTH_US 500  // Minimum pulse width in microsecond
#define SERVO_MAX_PULSEWIDTH_US 2500  // Maximum pulse width in microsecond
#define SERVO_MIN_DEGREE        -90   // Minimum angle
#define SERVO_MAX_DEGREE        90    // Maximum angle

#define SERVO_PULSE_GPIO             19        // GPIO connects to the PWM signal line
#define SERVO_TIMEBASE_RESOLUTION_HZ 1000000  // 1MHz, 1us per tick
#define SERVO_TIMEBASE_PERIOD        20000    // 20000 ticks, 20ms

static inline uint32_t example_angle_to_compare(int angle)
{
    return (angle - SERVO_MIN_DEGREE) * (SERVO_MAX_PULSEWIDTH_US - SERVO_MIN_PULSEWIDTH_US) / (SERVO_MAX_DEGREE - SERVO_MIN_DEGREE) + SERVO_MIN_PULSEWIDTH_US;
}

namespace iot {

// 这里仅定义 Arm 的属性和方法，不包含具体的实现
class Arm : public Thing {
private:
    bool power_ = false;
    mcpwm_cmpr_handle_t comparator = NULL;
    void example_ledc_init(void) {
        ESP_LOGI(TAG, "Create timer and operator");
        mcpwm_timer_handle_t timer = NULL;
        mcpwm_timer_config_t timer_config = {
            .group_id = 0,
            .clk_src = MCPWM_TIMER_CLK_SRC_DEFAULT,
            .resolution_hz = SERVO_TIMEBASE_RESOLUTION_HZ,
            .count_mode = MCPWM_TIMER_COUNT_MODE_UP,
            .period_ticks = SERVO_TIMEBASE_PERIOD,
        };
        ESP_ERROR_CHECK(mcpwm_new_timer(&timer_config, &timer));

        mcpwm_oper_handle_t oper = NULL;
        mcpwm_operator_config_t operator_config = {
            .group_id = 0, // operator must be in the same group to the timer
        };
        ESP_ERROR_CHECK(mcpwm_new_operator(&operator_config, &oper));

        ESP_LOGI(TAG, "Connect timer and operator");
        ESP_ERROR_CHECK(mcpwm_operator_connect_timer(oper, timer));

        ESP_LOGI(TAG, "Create comparator and generator from the operator");
        
        mcpwm_comparator_config_t comparator_config = {
            0, // intr_priority
            {true} // flags.update_cmp_on_tez
        };
        ESP_ERROR_CHECK(mcpwm_new_comparator(oper, &comparator_config, &comparator));

        mcpwm_gen_handle_t generator = NULL;
        mcpwm_generator_config_t generator_config = {
            .gen_gpio_num = SERVO_PULSE_GPIO,
        };
        ESP_ERROR_CHECK(mcpwm_new_generator(oper, &generator_config, &generator));

        // set the initial compare value, so that the servo will spin to the center position
        ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(0)));

        ESP_LOGI(TAG, "Set generator action on timer and compare event");
        // go high on counter empty
        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_timer_event(generator,
                                                                MCPWM_GEN_TIMER_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, MCPWM_TIMER_EVENT_EMPTY, MCPWM_GEN_ACTION_HIGH)));
        // go low on compare threshold
        ESP_ERROR_CHECK(mcpwm_generator_set_action_on_compare_event(generator,
                                                                    MCPWM_GEN_COMPARE_EVENT_ACTION(MCPWM_TIMER_DIRECTION_UP, comparator, MCPWM_GEN_ACTION_LOW)));

        ESP_LOGI(TAG, "Enable and start timer");
        ESP_ERROR_CHECK(mcpwm_timer_enable(timer));
        ESP_ERROR_CHECK(mcpwm_timer_start_stop(timer, MCPWM_TIMER_START_NO_STOP));
    }

public:
    Arm() : Thing("Arm", "你的手臂，可以运动"), power_(false) {
        // Set the LEDC peripheral configuration
        example_ledc_init();

        // 定义设备的属性
        properties_.AddBooleanProperty("power", "手臂是否运动", [this]() -> bool {
            return power_;
        });

        // 定义设备可以被远程执行的指令
        methods_.AddMethod("TurnOn", "手臂运用", ParameterList(), [this](const ParameterList& parameters) {
            power_ = true;
            int angle = 0;
                ESP_LOGI(TAG, "Angle of rotation: %d", angle);
                ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(angle)));
                //Add delay, since it takes time for servo to rotate, usually 200ms/60degree rotation under 5V power supply
                vTaskDelay(pdMS_TO_TICKS(500));
                angle = 20;
                ESP_LOGI(TAG, "Angle of rotation: %d", angle);
                ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(angle)));
                vTaskDelay(pdMS_TO_TICKS(500));
                angle = 40;
                ESP_LOGI(TAG, "Angle of rotation: %d", angle);
                ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(angle)));
                vTaskDelay(pdMS_TO_TICKS(500));
                angle = 60;
                ESP_LOGI(TAG, "Angle of rotation: %d", angle);
                ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(angle)));
                vTaskDelay(pdMS_TO_TICKS(500));
                angle = -60;
                ESP_LOGI(TAG, "Angle of rotation: %d", angle);
                ESP_ERROR_CHECK(mcpwm_comparator_set_compare_value(comparator, example_angle_to_compare(angle)));
        });

        methods_.AddMethod("TurnOff", "手臂返回原来的位置", ParameterList(), [this](const ParameterList& parameters) {
            power_ = false;
            // ****
        });
    }
};

} // namespace iot

DECLARE_THING(Arm);

2. 更新JSON配置文件

在main\iot\sample_interface.json文件中添加舵机的相关说明：

    {
        "name": "arm",
        "description": "AI机器人的手臂",
        "properties": {
            "power": {
                "type": "boolean",
                "description": "当前手臂是否在运动"
            }
        },
        "methods": {
            "TurnOn": {
                "description": "手臂在运动"
            }
        }
    },

3. 初始化舵机设备

在main\boards\bread-compact-wifi\compact_wifi_board.cc（根据自己的板子适配的文件）中的物联网初始化函数中添加舵机的初始化函数：

    // 物联网初始化，添加对 AI 可见设备
    void InitializeIot() {
        auto& thing_manager = iot::ThingManager::GetInstance();
        thing_manager.AddThing(iot::CreateThing("Speaker"));
        thing_manager.AddThing(iot::CreateThing("Lamp"));
        thing_manager.AddThing(iot::CreateThing("Arm")); // 添加物联网things中的Arm类（为新加）
    }

完成以上步骤后，重新编译工程并为小智刷入新的版本，现在你就可以通过语音指令呼唤小智动手臂了。
小智输出结果展示:

I (573923) LS_learner: ****>> start
I (573923) LS_learner: 麦克风输入>> 动一下手臂。
I (573923) LS_learner: 麦克风输入>> {
        "type": "stt",
        "text": "动一下手臂。",
        "session_id":   "b30cf390"
}
I (573943) LS_learner: STATE: speaking
I (574223) LS_learner: 物联网情况<< {
        "type": "iot",
        "commands":     [{
                        "name": "Arm",
                        "method":       "TurnOn",
                        "parameters":   {
                        }
                }],
        "session_id":   "b30cf390"
}
I (574233) LS_learner: COMMAND<< [{
                "name": "Arm",
                "method":       "TurnOn",
                "parameters":   {
                }
        }]
I (574263) Arm: Angle of rotation: 0
I (574533) LS_learner: 物联网情况<< {
        "type": "iot",
        "commands":     [{
                        "name": "Arm",
                        "method":       "TurnOff",
                        "parameters":   {
                        }
                }],
        "session_id":   "b30cf390"
}
I (574543) LS_learner: COMMAND<< [{
                "name": "Arm",
                "method":       "TurnOff",
                "parameters":   {
                }
        }]
I (574593) LS_learner: 表情输出情况<< {
        "type": "llm",
        "text": "😊",
        "emotion":      "happy",
        "session_id":   "b30cf390"
}
I (574763) Arm: Angle of rotation: 20
I (574863) LS_learner: 扬声器输出<< 好的，我动了动手臂，感觉挺好玩的！
I (574863) LS_learner: 扬声器输出<< {
        "type": "tts",
        "state":        "sentence_start",
        "text": "好的，我动了动手臂，感觉挺好玩的！",
        "session_id":   "b30cf390"
}
I (575263) Arm: Angle of rotation: 40
I (575763) Arm: Angle of rotation: 60
I (576263) Arm: Angle of rotation: -60
I (579173) LS_learner: 扬声器输出<< 你今天过得怎么样呢？
I (579173) LS_learner: 扬声器输出<< {
        "type": "tts",
        "state":        "sentence_start",
        "text": "你今天过得怎么样呢？",
        "session_id":   "b30cf390"
}
I (582033) LS_learner: ****>> stop

接线图：
未使用舵机驱动，仅作演示

修改后的代码：
https://gitee.com/liushuo-max/xiaozhi-robot/tree/master/xiaozhi-esp32-main

总结与展望

小智物联网开发以其强大的功能、开放的架构和低成本的优势，为物联网爱好者和开发者提供了一个广阔的创作平台。通过简单的硬件搭建和软件配置，我们能够轻松打造出属于自己的智能生活助手，让科技真正融入日常生活。未来，随着技术的不断进步和创新，小智物联网开发将为我们带来更多的惊喜和可能，让我们共同期待它在智能时代的精彩表现！