基于51单片机语音模块控制的可以寻迹，跟随，避障的小车

yangdongdeboke

已于 2023-12-20 12:35:36 修改

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文章标签： 51单片机嵌入式硬件单片机

于 2023-09-18 18:20:28 首次发布

本文链接：https://blog.csdn.net/weixin_51374594/article/details/132983141

版权

一、硬件部分

这用的东西比较多，所以我详细的给大家说一下

名称	功能	图片
小车	———
HC-SR04 超声波模块	避障模式时测量距离。这个模块具体的简绍可以看http://t.csdnimg.cn/v4Ba0
寻迹模块	由于黑色具有较强的吸收能力，当循迹模块发射的红外线照射到黑线时，红外线将会被黑线吸收，导致循迹模块上光敏三极管处于关闭状态，此时模块上一个LED熄灭，此时DO输出高电平。在没有检测到黑线时，模块上两个LED 常亮，DO输出低电平，接线时接DO，AO不管
红外跟随模块	左边跟随模块能返回红外，输出低电平，右边不能返回，输出高电平，说明物体在左边，需要左转右边跟随模块能返回红外，输出低电平，左边不能返回，输出高电平，说明物体在右边，需要右转。
oled	显示当前的模式，oled具体的使用可以看一下看一下http://t.csdn.cn/qS57P
2路L9110s模块	控制着小车的电机，输入不同电平控制正反转。以图中的方向为准，六个引脚分别是A-1B,A-1A,VCC,GND,B-1B,B-1A。在这里我让VCC和GND接入面包板的区域一，A-1B,A-1A,控制着左边的电机，B-1B,B-1A控制着右边的电机。同时将电机接线接入绿色的槽里面，正负无所谓，但要一对一对的接入，左边接左电机引线，右边接右电机引线。
SU-03T语音模块	说出对应的指令，小车执行对应的模式
舵机	与超声波模块配合使用，使超声波向前左右扭头测距，
充电宝数据线	提供电源，别问为啥不用电池，到最后我会说	———
面包板	我把面包板分为了四个区域。一区和四区功能相同，二区和三区功能相同。一区要看列，一区有正负极，如果一区要通电，+接正极，-接负极。这样+的那一列全都带正电，-的那一列全相当于GND。二区要看行，二区的每一行的电压性质相同。

二、软件部分

main.c

#include "reg52.h"
#include "motor.h"
#include "hc04.h"
#include "duoji.h"
#include "OLED.h"
#include "delay.h"
#define MIDDLE 0
#define LEFT 1
#define RIGHT 2
#define BZ 1 //避障
#define XJ 2 //寻迹
#define GS 3 //跟随

sbit leftSensor=P2^7;//寻迹传感器
sbit rightSensor=P2^6;
sbit leftgensui = P2^5;//跟随传感器
sbit rightgensui = P2^4;
sbit A25=P1^5;
sbit A26=P1^6;
sbit A27=P1^7;

char dir;
   double dismiddle;
   double disleft;
   double disright;
void bizhangmode()//避障模式
{
       if(dir!=MIDDLE)
       {
           sgmiddle();
           dir=MIDDLE;
Delay300ms();
       }
   dismiddle=get_distance();

   if(dismiddle>30)//距离大于30,前进
   {
       Go_Forward();

}
   else if(dismiddle<10)//距离小于10,后退
   {
       Go_Back();

}
   else//距离大于10小于30,左右摇头,判断左右距离
   {
       STOP();
       sgleft();
       Delay150ms();
       disleft=get_distance();

       sgmiddle();
Delay150ms();

sgright();
       dir=RIGHT;
       Delay150ms();
       disright=get_distance();
       if(disleft<disright)//左边距离小于右边距离,右转
       {
           Go_Right();
           Delay150ms();
               STOP();

       }
if(disleft>disright)//右边距离小于左边距离,左转
       {
           Go_Left();
           Delay150ms();
               STOP();

       }
   }

}

void gensuimode ()//跟随模式
{
if( leftgensui == 0 && rightgensui== 0){
           Go_Forward();
       }
       if( leftgensui == 1 && rightgensui== 0){
           Go_Right();
       }

       if( leftgensui == 0 && rightgensui== 1){

           Go_Left();
       }

       if( leftgensui== 1 && rightgensui== 1){
           //停
           STOP();
       }
}
void xunjimode ()//寻迹模式
{
   if(leftSensor==0 && rightSensor==0)
   Go_Forward();
if(leftSensor==1 && rightSensor==0)
   {
       Go_Left();
   }
   if(leftSensor==0 && rightSensor==1)
   {
       Go_Right();
   }
   if(leftSensor==1 && rightSensor==1)
   {
       STOP();
   }

}
void main()
{
char mark=0;
   Timer0Init();
   Timer1Init();
   sgmiddle();
Delay300ms();
   Delay300ms();
   dir=MIDDLE;
   Oled_Init();
   Oled_Clear();
   Oled_Show_Str(2,2,"--ready--");
   while(1)
   {
       if(A25==0 && A26==1 && A27==1)//寻迹模式
       {
           if(mark!=XJ)
           {
               Oled_Clear();
           Oled_Show_Str(2,2,"--xuji--");
           }
           mark=XJ;
           xunjimode();
       }

if(A25==1 && A26==0 && A27==1)//跟随模式
       {
           if(mark!=GS)
           {
               Oled_Clear();
           Oled_Show_Str(2,2,"--gensui--");
           }
           mark=GS;
           gensuimode();
       }

       if(A25==1 && A26==1 && A27==0)//避障模式
       {
           if(mark!=BZ)
           {
               Oled_Clear();
           Oled_Show_Str(2,2,"--bizhang--");
           }
           mark=BZ;
           bizhangmode();
       }
}
}
hc04.c

#include "hc04.h"
#include "delay.h"

void startHC()//开始条件，给Trig一个10us的高电平，让超声波传感器启动
{
   Trig=0;
   Trig=1;
   Delay10us();
   Trig=0;

}

void Timer1Init()       //500微秒@11.0592MHz,超声波用
{
   TMOD &= 0x0F;       //设置定时器模式为16位
   TMOD |= 0x10;
   TL1 = 0x00;       //设置低八位定时初值
   TH1 = 0x00;       //设置高八位定时初值

}
double get_distance()//测量距离
{
   double time;
   TH1 = 0;
       TL1 = 0;
   startHC();
   while(Echo==0);//Echo由低电平变为高电平时，结束循环，硬件开发送波
       TR1 = 1;//开启计数器计数模式
   while(Echo==1);//Echo由高电平变为低电平时，结束循环，表明硬件接受到返回波
       TR1 = 0;//关闭计数器计数模式
       time=(TH1 * 256 + TL1)*1.085;//计算次数，乘以一次的时间1.085us，得到来回的总时间
       return (0.017 * time);//速度是340m/s=0.034cm/us

}
hc04.h

#ifndef _HC04_H
#define _HC04_H
#include "reg52.h"
sbit Trig=P2^2;
sbit Echo=P2^3;

void startHC();
void Timer1Init();
double get_distance();

#endif

delay.c

#include "delay.h"

void Delay10us() //@11.0592MHz
{
unsigned char i;

   i = 2;
   while (--i);
}
void Delay150ms()       //@11.0592MHz
{
   unsigned char i, j, k;

   _nop_();
   i = 2;
   j = 13;
   k = 237;
   do
   {
       do
       {
           while (--k);
       } while (--j);
   } while (--i);
}

void Delay300ms() //@11.0592MHz
{
unsigned char i, j, k;

   _nop_();
   i = 3;
   j = 26;
   k = 223;
   do
   {
       do
       {
           while (--k);
       } while (--j);
   } while (--i);
}

delay.h

#ifndef _DELAY_H
#define _DELAY_H
#include <intrins.h>
void Delay10us();
void Delay150ms();
void Delay300ms();

#endif

duoji.c

#include "duoji.h"
#include "delay.h"
char jd;
char cnt=0;

void Timer0Init()       //500微秒@11.0592MHz，舵机用
{

   TMOD &= 0xF0;       //设置定时器模式为16位
   TMOD |= 0x01;       //设置定时初值
   TL0 = 0x33;       //设置定时初值
   TH0 = 0xFE;
   TF0 = 0;       //清除TF0标志
   TR0 = 1;   //定时器0开始计时
   EA=1;
   ET0=1;
}

void sgleft()
{
   jd=5;
       cnt=0;
       Delay300ms();
}
void sgmiddle()
{
   jd=3;
       cnt=0;
       Delay300ms();
}
void sgright()
{
   jd=1;
       cnt=0;
   Delay300ms();
}
void Time0Handler() interrupt 1
{
   cnt++;
   TL0 = 0x33;       //设置定时初值
   TH0 = 0xFE;
   if(cnt<jd)//控制占空比
   {sg90_con=1;}
   else
   {sg90_con=0;}
       if(cnt==40)
       {
           cnt=0;
           sg90_con=1;
       }
}

duoji.h

#ifndef _DUOJI_H
#define _DUOJI_H
#include "reg52.h"
#include "delay.h"
sbit sg90_con=P1^1;

void Timer0Init();
void sgmiddle();
void sgright();
void sgleft();
#endif

motor.c

#include "motor.h"

void Go_Forward()//前进
{
   RightConA=0;
   RightConB=1;
   LeftConA=0;
LeftConB=1;
}
void Go_Back()//后退
{
   RightConA=1;
   RightConB=0;
   LeftConA=1;
LeftConB=0;
}

void Go_Left()//左转
{
   RightConA=0;
   RightConB=1;
   LeftConA=0;
LeftConB=0;
}
void Go_Right()//右转
{
   RightConA=0;
   RightConB=0;
   LeftConA=0;
LeftConB=1;
}

void STOP()//停止
{
   RightConA=0;
   RightConB=0;
   LeftConA=0;
LeftConB=0;
}

motor.h

#ifndef _MOTOR_H
#define _MOTOR_H
#include <reg52.h>

sbit RightConA=P3^6;
sbit RightConB=P3^3;
sbit LeftConA=P3^4;
sbit LeftConB=P3^5;

void Go_Forward();//前进
void Go_Back();//后退
void Go_Left();//左转
void Go_Right();//右转
void STOP();//停止

#endif

OLED.c

#include "OLED.h"
#include "OLEDfind.h"
void Oled_Init()
{
Oled_Write_Cmd(0xAE);//--display off
Oled_Write_Cmd(0x00);//---set low column address
Oled_Write_Cmd(0x10);//---set high column address
Oled_Write_Cmd(0x40);//--set start line address
Oled_Write_Cmd(0xB0);//--set page address
Oled_Write_Cmd(0x81); // contract control
Oled_Write_Cmd(0xFF);//--128
Oled_Write_Cmd(0xA1);//set segment remap
Oled_Write_Cmd(0xA6);//--normal / reverse
Oled_Write_Cmd(0xA8);//--set multiplex ratio(1 to 64)
Oled_Write_Cmd(0x3F);//--1/32 duty
Oled_Write_Cmd(0xC8);//Com scan direction
Oled_Write_Cmd(0xD3);//-set display offset
Oled_Write_Cmd(0x00);//
Oled_Write_Cmd(0xD5);//set osc division
Oled_Write_Cmd(0x80);//
Oled_Write_Cmd(0xD8);//set area color mode off
Oled_Write_Cmd(0x05);//
Oled_Write_Cmd(0xD9);//Set Pre-Charge Period
Oled_Write_Cmd(0xF1);//
Oled_Write_Cmd(0xDA);//set com pin configuartion
Oled_Write_Cmd(0x12);//
Oled_Write_Cmd(0xDB);//set Vcomh
Oled_Write_Cmd(0x30);//
Oled_Write_Cmd(0x8D);//set charge pump enable
Oled_Write_Cmd(0x14);//
Oled_Write_Cmd(0xAF);//--turn on oled panel
}
void IIC_Start()//启动IIC
{
scl=0;
sda=1;
scl=1;
_nop_();
sda=0;
_nop_();
}

void IIC_End()//终止IIC
{
scl=0;
sda=0;
scl=1;
_nop_();
sda=1;
_nop_();
}

char IIC_Ack()//IIC应答
{
   char flag;
   sda=1;//释放数据线
   _nop_();
   scl=1;
   _nop_();
   flag=sda;
   _nop_();
   scl=0;
   _nop_();
   return flag;
}
void send_Byte(char dataSend)//发送一个字节
{
   int i;
   for(i=0;i<8;i++)
   {
scl=0;//scl拉低，sda可以数据变换
   sda=dataSend & 0x80;//获得sda最高位
   _nop_();//发送数据，建立时间
   scl=1;//scl拉高，开始发送
   _nop_();//数据发送时间
   scl=0;//发送完毕，拉低
   _nop_();
dataSend=dataSend << 1;//高位开始发送，左移一位，高位不断变换
   }
}

void Oled_Write_Cmd(char dataCmd)
{
   IIC_Start();//1.IICstart
   send_Byte(0x78);//发送从机地址
   IIC_Ack();//应答
   send_Byte(0x00);//开启写入命令0x00或写入数据0x40
   IIC_Ack();//应答
   send_Byte(dataCmd);//写入具体的命令或者数据
   IIC_Ack();
   IIC_End();//IIC结束
}

void Oled_Write_Data(char dataData)
{
// 1. start()
IIC_Start();
//
// 2. 写入从机地址 b0111 1000 0x78
send_Byte(0x78);
// 3. ACK
IIC_Ack();
// 4. cotrol byte: (0)(0)000000 写入命令 (0)(1)000000写入数据
send_Byte(0x40);
// 5. ACK
IIC_Ack();
///6. 写入指令/数据
send_Byte(dataData);
//7. ACK
IIC_Ack();
//8. STOP
IIC_End();
}
void Oled_Clear()
{
unsigned char i,j; //char的范围-128 --- 127,使用unsign char
for(i=0;i<8;i++){
Oled_Write_Cmd(0xB0 + i);//page0--page7
//每个page从0列
Oled_Write_Cmd(0x00);
Oled_Write_Cmd(0x10);
//0到127列，依次写入0，每写入数据，列地址自动偏移
for(j = 0;j<128;j++){
Oled_Write_Data(0);
}
}
}
void Oled_Show_Char(char row,char col,char oledChar){ //row*2-2
   unsigned int i;
   Oled_Write_Cmd(0xb0+(row*2-2)); //page 0
   Oled_Write_Cmd(0x00+(col&0x0f)); //low
   Oled_Write_Cmd(0x10+(col>>4)); //high
   for(i=((oledChar-32)*16);i<((oledChar-32)*16+8);i++){
       Oled_Write_Data(F8X16[i]); //写数据oledTable1
   }

   Oled_Write_Cmd(0xb0+(row*2-1)); //page 1
   Oled_Write_Cmd(0x00+(col&0x0f)); //low
   Oled_Write_Cmd(0x10+(col>>4)); //high
   for(i=((oledChar-32)*16+8);i<((oledChar-32)*16+8+8);i++){
       Oled_Write_Data(F8X16[i]); //写数据oledTable1
   }
}
void Oled_Show_Str(char row,char col,char *str)

{
   while(*str!=0){
       Oled_Show_Char(row,col,*str);
       str++;
       col += 8;
   }
}

OLED.h

#ifndef _OLED_H
#define _OLED_H
#include "reg52.h"
#include "intrins.h"

sbit scl = P0^1;
sbit sda = P0^3;
void Oled_Init();

void IIC_Start();//启动IIC

void IIC_End();//终止IIC

char IIC_Ack();//IIC应答

void send_Byte(char dataSend);//发送一个字节

void Oled_Write_Cmd(char dataCmd);

void Oled_Write_Data(char dataData);

void Oled_Clear();
void Oled_Show_Char(char row,char col,char oledChar);
void Oled_Show_Str(char row,char col,char *str);
#endif

OLEDfind.h

#ifndef _OLEDFIND_H
#define _OLEDFIND_H

const unsigned char code F8X16[]=
{
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
#endif

三、语音模块的使用

打开这个连接智能公元/AI产品零代码平台机芯智能创新推出AI零代码平台-智能公元，通过配置平台即可立刻生成模型和固件，大幅降低了开发难度，减少了开发成本，缩短了开发时间，可以极大加速智能产品的开发速度http://www.smartpi.cn/#/

点击首页，找到SU-03T的图片，把鼠标放到图片上，点击“创建产品”

选择其它，点击其它产品，输入自己想要的名称及语言，选择下一步

在Pin配置里面将GPIO_25 26 27设置为默认高电平，输出模式。唤醒词以及回答自己选择。

按照我的做法继续做

最后点击右上角的保存，发布新版本。

点击产品管理，在所有产品中你可以看到你刚才的产品，点击产看详情，，还需要10到30分钟才可以生成对应的压缩包。生成之后，点击 “下载固件”，记住你下载的位置。把压缩包解压，不要带中文路径，否则你一会烧录很难成功，这时候我们需要专门的烧录软件uni_hb_m_solution，我应经压缩上传,，你买语音模块的时候也可以问商家要。然后按照这个路径uni_hb_m_solution\image_demo\Hummingbird-M-Update-Tool找到UniOneUpdateTool.exe，打开它，将语音模块的VCC,GND分别接到USB转ttl的VCC,GND，B7 引脚接串口 RXD ，B6 引脚接串口 TXD。

然后点击串口的选择，选择对应的bin文件

点击串口，烧录

如果烧录失败，可以重启语音模块，然后重新烧录。如果还不行，我建议你换一个好一点的USB转ttl试一下。

四、其它

1.不要想着把电源直接给语音模块，然后用语音模块给整个系统供电，因为电流过大，会把语音模块烧了，因为就就是这么干的，结果花了38又重新买了一个。老老实实的用电源给单片机供电，然后从单片机上找出VCC和GND给语音模块供电。

2.我建议除了语音模块，所有的电路模块你都可以有备份。因为有的时候这些模块很离谱，用的时间久了，莫名其妙的坏了。我程序写好后烧录进去，使用到避障模块，小车直接撞上去，后来我把超声波模块和舵机模块单独测试了一下，结果发现全部都是坏的。就很狗血，搞了一上，我一直以为是代码问题。

3.关于寻迹模式，基于上述代码，拐弯的时候，有时候容易直接冲出去，我给大家三种方法。第一种自己买一个pwm驱动模块，配合着单片机使用，拐弯的时候让两边的轮子都有速度且有速度差，具体多少，需要自己去试，第二种，买两个电位器，控制电机的电压，让它电压稍微低一点，小车的速度就稍微低一点，具体低多少，自己调。第三种方法加宽拐弯处的黑色面积，让拐弯的地方持续高电平，这样就可以不断执行拐弯程序，就不用担心因速度过快，还没完全拐过来，黑色区域就没了，从而导致脱离轨道。我就是用第三种方法，具体加宽多少，自己调试。我没法用单片机的定时器控制速度，因为定时器0和1被超声波还有舵机用了。

这是我用黑色的电胶带搞得，效果不错，视频我也上传了。

4.为什么我说电源是充电宝，而不是电池。这是我狗血的经历，电池耗电太快了，还不说你要调试，这个过程也费电。在寻迹还有跟随模式还好说，但是到了避障模式，这个模式下，用电模块太多了，导致稍微低一点，电机就带不动。经常出现的情况就是，舵机带着超声波模块疯狂摇头，但是小车就是不动。所以这也就是为啥我让你用充电宝，不用电池。

然后就没了，希望大家都可以做出来。