🌟 桌面自平衡机器人—Zz：激发孩子好奇心的完美选择！

如何拥有一台足够把玩与学习的机器人？

它集 2 轮驱动、自平衡，满足机器人的行动；

灰度巡线、超声波避障、oled 128x64 的图形显示；

mpu-6050 模块三轴加速度 + 三轴陀螺仪，重心和倾斜角测量；

蓝牙无线连接操控；当然你还可以附加更多乐趣，语音交互、微型摄像头配合 vr 头盔（fpv 第一视角驾驶）

小小的身躯 —— 清新不油腻

材料清单：

————————————————

. n20带编码器金属齿轮减速电机V2 (30:1)

. miniQ小车橡胶轮

. 3PI MiniQ N20电机支架

. FireBeetle原型扩展板

. TB6612FNG微型双路直流电机驱动模块

. DFRduino Pro Mini V1.2(16M5V328)

. 3.7锂电池

. 3v转5v升压模块

. 锂电池充放电模块

———————————————————

附加与扩展硬件

. HC-SR04+超声波测距模块

. 灰度巡线传感器

硬件篇

Board Power Supply 3.35 -12 V (3.3V model) or 5 - 12 V (5V model)

Circuit Operating Voltage 3.3V or 5V (depending on model)

8 MHz (3.3V versions) or 16 MHz (5V versions)

Serial: 0 (RX) and 1 (TX). Used to receive (RX) and transmit (TX) TTL serial data. These pins are connected to the TX-0 and RX-1 pins of the six pin header.

External Interrupts: 2 and 3. These pins can be configured to trigger an interrupt on a low value, a rising or falling edge, or a change in value. See the attachInterrupt function for details.

PWM: 3, 5, 6, 9, 10, and 11. Provide 8-bit PWM output with the analogWrite function.

SPI: 10 (SS), 11 (MOSI), 12 (MISO), 13 (SCK). These pins support SPI communication, which, although provided by the underlying hardware, is not currently included in the Arduino language.

pro mini作为一款非常小巧的微控制器，大体了解到它的特性（蓝色字体标记）以及工作电压5v（供电是一个项目特别要考虑的指标）

Zz的底盘是一块洞洞板，N20电机的输出轴露出洞洞板外（左右对称）；

烧录进代码：
[mw_shl_code=c,true]#include "./PinChangeInt.h"
#include "./MsTimer2.h"
//利用测速码盘计数实现速度PID控制
#include "./BalanceCar.h"
#include "./KalmanFilter.h"
//I2Cdev、MPU6050和PID_v1类库需要事先安装在Arduino 类库文件夹下
#include "./I2Cdev.h"
#include "./MPU6050_6Axis_MotionApps20.h"
#include "Wire.h"

MPU6050 mpu; //实例化一个 MPU6050 对象，对象名称为 mpu
BalanceCar balancecar;
KalmanFilter kalmanfilter;
int16_t ax, ay, az, gx, gy, gz;
//驱动模块控制信号
#define IN1M A3
#define IN2M 7
#define IN3M A0
#define IN4M 8
#define PWMA A2
#define PWMB A1
#define STBY 6

#define PinA_left 3  //中断0
#define PinA_right 2 //中断1

//声明自定义变量
int time;
byte inByte; //串口接收字节
int num;
double Setpoint;                            //角度DIP设定点，输入，输出
double Setpoints, Outputs = 0;                      //速度DIP设定点，输入，输出
double kp = 40, ki = 0.1, kd = 0.3;                //需要你修改的参数
double kp_speed =1.8, ki_speed = 0.05, kd_speed = 0;          // 需要你修改的参数
double kp_turn = 0, ki_turn = 0, kd_turn = 0;                //旋转PID设定
const double PID_Original[6] = {38, 0.0, 0.58,4.0, 0.12, 0.0}; //恢复默认PID参数
//转向PID参数
double setp0 = 0, dpwm = 0, dl = 0; //角度平衡点，PWM差，死区，PWM1，PWM2
float value;

//********************angle data*********************//
float Q;
float Angle_ax; //由加速度计算的倾斜角度
float Angle_ay;
float K1 = 0.05; // 对加速度计取值的权重
float angle0 = 0.00; //机械平衡角
int slong;
//********************angle data*********************//

//***************Kalman_Filter*********************//
float Q_angle = 0.001, Q_gyro = 0.005; //角度数据置信度,角速度数据置信度
float R_angle = 0.5 , C_0 = 1;
float timeChange = 5; //滤波法采样时间间隔毫秒
float dt = timeChange * 0.001; //注意：dt的取值为滤波器采样时间
//***************Kalman_Filter*********************//

//*********************************************
//******************** speed count ************
//*********************************************

volatile long count_right = 0;//使用volatile lon类型是为了外部中断脉冲计数值在其他函数中使用时，确保数值有效
volatile long count_left = 0;//使用volatile lon类型是为了外部中断脉冲计数值在其他函数中使用时，确保数值有效
int speedcc = 0;

//////////////////////脉冲计算/////////////////////////
int lz = 0;
int rz = 0;
int rpluse = 0;
int lpluse = 0;
int sumam;
/////////////////////脉冲计算////////////////////////////

//////////////转向、旋转参数///////////////////////////////
int turncount = 0; //转向介入时间计算
float turnoutput = 0;
//////////////转向、旋转参数///////////////////////////////

//////////////Wifi控制量///////////////////
#define run_car    '1'//按键前
#define back_car '2'//按键后
#define left_car '3'//按键左
#define right_car '4'//按键右
#define stop_car '0'//按键停
/*小车运行状态枚举*/
enum {
  enSTOP = 0,
  enRUN,
  enBACK,
  enLEFT,
  enRIGHT,
  enTLEFT,
  enTRIGHT
} enCarState;
int incomingByte = 0;       // 接收到的 data byte
String inputString = "";       // 用来储存接收到的内容
boolean newLineReceived = false; // 前一次数据结束标志
boolean startBit  = false;  //协议开始标志
int g_carstate = enSTOP; //  1前2后3左4右0停止
String returntemp = ""; //存储返回值
boolean g_autoup = false;
int g_uptimes = 5000;

int front = 0;//前进变量
int back = 0;//后退变量
int turnl = 0;//左转标志
int turnr = 0;//右转标志
int spinl = 0;//左旋转标志
int spinr = 0;//右旋转标志
int bluetoothvalue;//蓝牙控制量
//////////////蓝牙控制量///////////////////

//////////////////超声波速度//////////////////

int chaoshengbo = 0;
int tingzhi = 0;
int jishi = 0;

//////////////////超声波速度//////////////////
void Code_left();
void Code_right();
//////////////////////脉冲计算///////////////////////
void countpluse()
{

  lz = count_left;
  rz = count_right;

  count_left = 0;
  count_right = 0;

  lpluse = lz;
  rpluse = rz;

  if ((balancecar.pwm1 < 0) && (balancecar.pwm2 < 0))                   //小车运动方向判断后退时（PWM即电机电压为负）脉冲数为负数
  {
rpluse = -rpluse;
lpluse = -lpluse;
  }
  else if ((balancecar.pwm1 > 0) && (balancecar.pwm2 > 0))                //小车运动方向判断前进时（PWM即电机电压为正）脉冲数为负数
  {
rpluse = rpluse;
lpluse = lpluse;
  }
  else if ((balancecar.pwm1 < 0) && (balancecar.pwm2 > 0))                //小车运动方向判断前进时（PWM即电机电压为正）脉冲数为负数
  {
rpluse = rpluse;
lpluse = -lpluse;
  }
  else if ((balancecar.pwm1 > 0) && (balancecar.pwm2 < 0))             //小车运动方向判断左旋转右脉冲数为负数左脉冲数为正数
  {
rpluse = -rpluse;
lpluse = lpluse;
  }

  //提起判断
  balancecar.stopr += rpluse;
  balancecar.stopl += lpluse;

  //每5ms进入中断时，脉冲数叠加
  balancecar.pulseright += rpluse;
  balancecar.pulseleft += lpluse;
  sumam = balancecar.pulseright + balancecar.pulseleft;
}
////////////////////脉冲计算///////////////////////

//////////////////角度PD////////////////////
void angleout()
{
  balancecar.angleoutput = kp * (kalmanfilter.angle + angle0) + kd * kalmanfilter.Gyro_x;//PD 角度环控制
}
//////////////////角度PD////////////////////

//////////////////////////////////////////////////////////
//////////////////中断定时 5ms定时中断////////////////////
/////////////////////////////////////////////////////////
void inter()
{
  sei();
  countpluse();                                  //脉冲叠加子函数
  mpu.getMotion6(&ax, &ay, &az, &gx, &gy, &gz);    //IIC获取MPU6050六轴数据 ax ay az gx gy gz
  kalmanfilter.Angletest(ax, ay, az, gx, gy, gz, dt, Q_angle, Q_gyro, R_angle, C_0, K1);                                  //获取angle 角度和卡曼滤波
  angleout();                                     //角度环 PD控制

  speedcc++;
  if (speedcc >= 8)                               //40ms进入速度环控制
  {
Outputs = balancecar.speedpiout(kp_speed, ki_speed, kd_speed, front, back, setp0);
speedcc = 0;
  }
  turncount++;
  if (turncount > 4)                               //40ms进入旋转控制
  {
turnoutput = balancecar.turnspin(turnl, turnr, spinl, spinr, kp_turn, kd_turn, kalmanfilter.Gyro_z);                            //旋转子函数
turncount = 0;
  }
  balancecar.posture++;
  balancecar.pwma(Outputs, turnoutput, kalmanfilter.angle, kalmanfilter.angle6, turnl, turnr, spinl, spinr, front, back, kalmanfilter.accelz, IN1M, IN2M, IN3M, IN4M, PWMA, PWMB);                         //小车总PWM输出

}
//////////////////////////////////////////////////////////
//////////////////中断定时 5ms定时中断///////////////////
/////////////////////////////////////////////////////////
void SendAutoUp()
{
  g_uptimes --;
  if ((g_autoup == true) && (g_uptimes == 0))
  {
//自动上报
String CSB, VT;
char temp[10]={0};
float fgx;
float fay;
float leftspeed;
float rightspeed;

fgx = gx;  //传给局部变量
fay = ay;  //传给局部变量
leftspeed = balancecar.pwm1;
rightspeed = balancecar.pwm2;

double Gx = (double)((fgx - 128.1f) / 131.0f);             //角度转换
double Ay = ((double)fay / 16384.0f) * 9.8f;

if(leftspeed > 255 || leftspeed < -255)
   return;
if(rightspeed > 255 || rightspeed < -255)
   return;
if((Ay < -20) || (Ay > 20))
   return;
if((Gx < -3000) || (Gx > 3000))
   return;

returntemp = "";

memset(temp, 0x00, sizeof(temp));
//sprintf(temp, "%3.1f", leftspeed);
dtostrf(leftspeed, 3, 1, temp);  // 相當於 %3.2f
String LV = temp;

memset(temp, 0x00, sizeof(temp));
//sprintf(temp, "%3.1f", rightspeed);
dtostrf(rightspeed, 3, 1, temp);  // 相當於 %3.1f
String RV = temp;

memset(temp, 0x00, sizeof(temp));
//sprintf(temp, "%2.2f", Ay);
dtostrf(Ay, 2, 2, temp);  // 相當於 %2.2f
String AC = temp;

memset(temp, 0x00, sizeof(temp));
//sprintf(temp, "%4.2f", Gx);
dtostrf(Gx, 4, 2, temp);  // 相當於 %4.2f
String GY = temp;

CSB = "0.00";
VT = "0.00";
//AC =
returntemp = "$LV" + LV + ",RV" + RV + ",AC" + AC + ",GY" + GY + ",CSB" + CSB + ",VT" + VT + "#";
Serial.print(returntemp); //返回协议数据包
  }

  if (g_uptimes == 0)
   g_uptimes = 5000;
}

// === 初始设置    ===
void setup() {
  // TB6612FNGN驱动模块控制信号初始化
  pinMode(IN1M, OUTPUT);                      //控制电机1的方向，01为正转，10为反转
  pinMode(IN2M, OUTPUT);
  pinMode(IN3M, OUTPUT);                      //控制电机2的方向，01为正转，10为反转
  pinMode(IN4M, OUTPUT);
  pinMode(PWMA, OUTPUT);                      //左电机PWM
  pinMode(PWMB, OUTPUT);                      //右电机PWM
  pinMode(STBY, OUTPUT);                      //TB6612FNG使能

  //初始化电机驱动模块
  digitalWrite(IN1M, 0);
  digitalWrite(IN2M, 1);
  digitalWrite(IN3M, 1);
  digitalWrite(IN4M, 0);
  digitalWrite(STBY, 1);
  analogWrite(PWMA, 0);
  analogWrite(PWMB, 0);

  pinMode(PinA_left, INPUT);  //测速码盘输入
  pinMode(PinA_right, INPUT);

  // 加入I2C总线
  Wire.begin();                         //加入 I2C 总线序列
  Serial.begin(9600);                      //开启串口，设置波特率为 115200
  delay(1500);
  mpu.initialize();                      //初始化MPU6050
  delay(2);
  balancecar.pwm1 = 0;
  balancecar.pwm2 = 0;
  //5ms定时中断设置  使用timer2 注意：使用timer2会对pin3 pin11的PWM输出有影响，因为PWM使用的是定时器控制占空比，所以在使用timer的时候要注意查看对应timer的pin口。
  MsTimer2::set(5, inter);
  MsTimer2::start();

}

////////////////////////////////////////turn//////////////////////////////////

void ResetPID()
{
  kp = PID_Original[0];
  ki =  PID_Original[1];
  kd =  PID_Original[2];                   //需要你修改的参数
  kp_speed =  PID_Original[3];
  ki_speed =  PID_Original[4];
  kd_speed =  PID_Original[5];  // 需要你修改的参数
}
void ResetCarState()
{
  turnl = 0;
  turnr = 0;
  front = 0;
  back = 0;
  spinl = 0;
  spinr = 0;
  turnoutput = 0;
}
// ===    主循环程序体    ===
void loop() {

String returnstr = "$0,0,0,0,0,0,0,0,0,0,0,0cm,8.2V#";  //默认发送

//主函数中循环检测及叠加脉冲测定小车车速  使用电平改变既进入脉冲叠加增加电机的脉冲数，保证小车的精确度。
attachInterrupt(0, Code_left, CHANGE);
attachPinChangeInterrupt(PinA_right, Code_right, CHANGE);

//kongzhi(); //蓝牙接口
//

//Serial.println(kalmanfilter.angle);
//Serial.print("\t");
//Serial.print(bluetoothvalue);
//Serial.print("\t");
//    Serial.print( balancecar.angleoutput);
//    Serial.print("\t");
//    Serial.print(balancecar.pwm1);
//    Serial.print("\t");
//    Serial.println(balancecar.pwm2);
//    Serial.print("\t");
//    Serial.println(balancecar.stopr);
//    Serial.print("\t");

if (newLineReceived)
{
   switch (inputString[1])
   {
      case run_car: g_carstate = enRUN; break;
      case back_car:  g_carstate = enBACK;  break;
      case left_car:  g_carstate = enLEFT;  break;
      case right_car: g_carstate = enRIGHT; break;
      case stop_car:  g_carstate = enSTOP;  break;
      default: g_carstate = enSTOP; break;
   }
   //判断协议是否有丢包
/* if(inputString.length() < 21)
   {
      //恢复默认
      inputString = ""; // clear the string
      newLineReceived = false;
      //Serial.print(returnstr);
      goto a;
   }*/
   if (inputString[3] == '1' && inputString.length() == 21) //左摇
   {
      g_carstate = enTLEFT;
      //Serial.print(returnstr);
   }
   else if (inputString[3] == '2' && inputString.length() == 21) //右摇
   {
      g_carstate = enTRIGHT;
   // Serial.print(returnstr);
   }

   if (inputString[5] == '1') //查询PID
   {
      char charkp[7], charkd[7], charkpspeed[7], charkispeed[7];

      dtostrf(kp, 3, 2, charkp);  // 相當於 %3.2f
      dtostrf(kd, 3, 2, charkd);  // 相當於 %3.2f
      dtostrf(kp_speed, 3, 2, charkpspeed);  // 相當於 %3.2f
      dtostrf(ki_speed, 3, 2, charkispeed);  // 相當於 %3.2f

      String strkp = charkp; String strkd = charkd; String strkpspeed = charkpspeed; String strkispeed = charkispeed;

      returntemp = "$0,0,0,0,0,0,AP" + strkp + ",AD" + strkd + ",VP" + strkpspeed + ",VI" + strkispeed + "#";

      Serial.print(returntemp); //返回协议数据包
   }
   else if (inputString[5] == '2') //恢复PID
   {
      ResetPID();
      Serial.print("$OK#"); //返回协议数据包
   }

   if (inputString[7] == '1') //自动上报
   {
      g_autoup = true;
      Serial.print("$OK#"); //返回协议数据包
   }
   else if (inputString[7] == '2') //停止自动上报
   {
      g_autoup = false;
      Serial.print("$OK#"); //返回协议数据包
   }

   if (inputString[9] == '1') //角度环更新 $0,0,0,0,1,1,AP23.54,AD85.45,VP10.78,VI0.26#
   {
      int i = inputString.indexOf("AP");
      int ii = inputString.indexOf(",", i);
      if(ii > i)
      {
      String m_skp = inputString.substring(i + 2, ii);
      m_skp.replace(".", "");
      int m_kp = m_skp.toInt();
      kp = (double)( (double)m_kp / 100.0f);
      }


      i = inputString.indexOf("AD");
      ii = inputString.indexOf(",", i);
      if(ii > i)
      {
      //ki = inputString.substring(i+2, ii);
      String m_skd = inputString.substring(i + 2, ii);
      m_skd.replace(".", "");
      int m_kd = m_skd.toInt();
      kd = (double)( (double)m_kd / 100.0f);
      }
      Serial.print("$OK#"); //返回协议数据包
   }

   if (inputString[11] == '1') //速度环更新
   {
      int i = inputString.indexOf("VP");
      int ii = inputString.indexOf(",", i);
      if(ii > i)
      {
      String m_svp = inputString.substring(i + 2, ii);
      m_svp.replace(".", "");
      int m_vp = m_svp.toInt();
      kp_speed = (double)( (double)m_vp / 100.0f);
      }


      i = inputString.indexOf("VI");
      ii = inputString.indexOf("#", i);
      if(ii > i)
      {
      String m_svi = inputString.substring(i + 2, ii);
      m_svi.replace(".", "");
      int m_vi = m_svi.toInt();
      ki_speed = (double)( (double)m_vi / 100.0f);
      Serial.print("$OK#"); //返回协议数据包
      }

   }
   //恢复默认
   inputString = ""; // clear the string
   newLineReceived = false;

}

a: switch (g_carstate)
{
   case enSTOP: turnl = 0; turnr = 0;  front = 0; back = 0; spinl = 0; spinr = 0; turnoutput = 0; break;
   case enRUN: ResetCarState();front = 250; break;
   case enLEFT: turnl = 1; break;
   case enRIGHT: turnr = 1; break;
   case enBACK: ResetCarState();back = -250; break;
   case enTLEFT: spinl = 1; break;
   case enTRIGHT: spinr = 1; break;
   default: front = 0; back = 0; turnl = 0; turnr = 0; spinl = 0; spinr = 0; turnoutput = 0; break;
}

//增加自动上报
  SendAutoUp();

}

////////////////////////////////////////pwm///////////////////////////////////

//////////////////////////脉冲中断计算/////////////////////////////////////

void Code_left() {

  count_left ++;

} //左测速码盘计数

void Code_right() {

  count_right ++;

} //右测速码盘计数

//////////////////////////脉冲中断计算/////////////////////////////////////

//serialEvent()是IDE1.0及以后版本新增的功能，不清楚为什么大部份人不愿意用，这个可是相当于中断功能一样的啊!
int num1 = 0;
void serialEvent()
{

  while (Serial.available())
  {
incomingByte = Serial.read();             //一个字节一个字节地读，下一句是读到的放入字符串数组中组成一个完成的数据包
if (incomingByte == '$')
{
   num1 = 0;
   startBit = true;
}
if (startBit == true)
{
   num1++;
   inputString += (char) incomingByte;    // 全双工串口可以不用在下面加延时，半双工则要加的//
}
if (startBit == true && incomingByte == '#')
{
   newLineReceived = true;
   startBit = false;
}

if(num1 >= 80)
{
   num1 = 0;
   startBit = false;
   newLineReceived = false;
   inputString = "";
}
  }
}

/*备份*/
#if 0
char chartemp[7];
dtostrf(ax, 3, 2, chartemp);  // 相當於 %3.2f
String strax = chartemp;
strax = "\nax:" + strax;

memset(chartemp, 0x00, 7);
dtostrf(ay, 3, 2, chartemp);  // 相當於 %3.2f
String stray = chartemp;
stray = "\nay:" + stray;

memset(chartemp, 0x00, 7);
dtostrf(az, 3, 2, chartemp);  // 相當於 %3.2f
String straz = chartemp;
straz = "\naz:" + straz;

memset(chartemp, 0x00, 7);
dtostrf(gx, 3, 2, chartemp);  // 相當於 %3.2f
String strgx = chartemp;
strgx = "\ngx:" + strgx;

memset(chartemp, 0x00, 7);
dtostrf(gy, 3, 2, chartemp);  // 相當於 %3.2f
String strgy = chartemp;
strgy = "\ngy:" + strgy;

memset(chartemp, 0x00, 7);
dtostrf(gz, 3, 2, chartemp);  // 相當於 %3.2f
String strgz = chartemp;
strgz = "\ngz:" + strgz;
Serial.print(strax + stray + straz + strgx + strgy + strgz); //返回协议数据包
#endif
[/mw_shl_code]
完成！