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蓝牙控制三轴机械臂_蓝牙模块控制步进电机

作者：很楠不爱3 | 2024-04-11 13:37:25

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蓝牙模块控制步进电机

    前言，emm，确实，已经在视觉控制部分卡了很久了 ，查了很多资料，目前，对于专业做机器臂的企业用的大多是用的路径规划，它涉及到了人工智能方向，但在本科生阶段，大多用的是一种叫运动学逆解的思路，它用到的是解三角函数的方式，这是对于低自由度的，对于高自由度的还会用到现代控制理论的知识，，只能说,创作之路略微小小小小的困难. 

准备物品:

STM32F407VET6 、STM32F103C8T6、HC05蓝牙模块,两块HC06模块 三块步进电机驱动器, 一台三轴机械臂

  

  1. 主体思路:想做的是一个三轴机械臂,能实现蓝牙控制和视觉抓取(目前只完成蓝牙控制)  用手机连接一块HC06蓝牙,当收到手机的指令后,在单片机(c8t6和vet6的控制下,完成简单的三轴运动)。                                                     

     5步骤:  

    1.STM32407ZGT6 

      这里的VET6主要担任了两个任务,一个是接收手机的数据,并发送给c8t6,另一个就是控制三个步进电机,步进电机只要控制,而控制步进电机需要一个驱动器,在驱动器的作用下,我们只要对其输入脉冲电机就能够旋转,输入高低电平,电机便能正转和反转, 具体如下: 

    1. /* USER CODE BEGIN Header */
    2. /**
    3.   ******************************************************************************
    4.   * @file           : main.c
    5.   * @brief          : Main program body
    6.   ******************************************************************************
    7.   * @attention
    8.   *
    9.   * Copyright (c) 2022 STMicroelectronics.
    10.   * All rights reserved.
    11.   *
    12.   * This software is licensed under terms that can be found in the LICENSE file
    13.   * in the root directory of this software component.
    14.   * If no LICENSE file comes with this software, it is provided AS-IS.
    15.   *
    16.   ******************************************************************************
    17.   */
    18. /* USER CODE END Header */
    19. /* Includes ------------------------------------------------------------------*/
    20. #include "main.h"
    21. #include "i2c.h"
    22. #include "tim.h"
    23. #include "usart.h"
    24. #include "gpio.h"
    25.  
    26. /* Private includes ----------------------------------------------------------*/
    27. /* USER CODE BEGIN Includes */
    28.  
    29. /* USER CODE END Includes */
    30.  
    31. /* Private typedef -----------------------------------------------------------*/
    32. /* USER CODE BEGIN PTD */
    33.  
    34. /* USER CODE END PTD */
    35.  
    36. /* Private define ------------------------------------------------------------*/
    37. /* USER CODE BEGIN PD */
    38. /* USER CODE END PD */
    39.  
    40. /* Private macro -------------------------------------------------------------*/
    41. /* USER CODE BEGIN PM */
    42.  
    43. /* USER CODE END PM */
    44.  
    45. /* Private variables ---------------------------------------------------------*/
    46.  
    47. /* USER CODE BEGIN PV */
    48.  
    49. /* USER CODE END PV */
    50.  
    51. /* Private function prototypes -----------------------------------------------*/
    52. void SystemClock_Config(void);
    53. /* USER CODE BEGIN PFP */
    54. #define USART_REC_LEN 200
    55. uint8_t		Res ,S;  //数据存放的地方
    56. uint8_t 	USART2_RX_BUF[USART_REC_LEN];     //接收缓冲,最大USART_REC_LEN个字节.（一般给200，接收数据量大就增加）
    57. uint16_t  USART2_RX_STA;       			 				//接收状态标记	
    58. /* USER CODE END PFP */
    59.  
    60. /* Private user code ---------------------------------------------------------*/
    61. /* USER CODE BEGIN 0 */
    62. 	uint8_t send_str0[]="8";
    63. 	uint8_t send_str1[]="9";
    64. /* USER CODE END 0 */
    65.  
    66. /**
    67.   * @brief  The application entry point.
    68.   * @retval int
    69.   */
    70. int main(void)
    71. {
    72.   /* USER CODE BEGIN 1 */
    73.   /* USER CODE END 1 */
    74.  
    75.   /* MCU Configuration--------------------------------------------------------*/
    76.  
    77.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    78.   HAL_Init();
    79.  
    80.   /* USER CODE BEGIN Init */
    81.  
    82.   /* USER CODE END Init */
    83.  
    84.   /* Configure the system clock */
    85.   SystemClock_Config();
    86.  
    87.   /* USER CODE BEGIN SysInit */
    88.  
    89.   /* USER CODE END SysInit */
    90.  
    91.   /* Initialize all configured peripherals */
    92.   MX_GPIO_Init();
    93.   MX_I2C1_Init();
    94.   MX_TIM1_Init();
    95.   MX_USART1_UART_Init();
    96.   MX_USART2_UART_Init();
    97.   /* USER CODE BEGIN 2 */
    98. HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_1);
    99. HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_2);
    100. HAL_TIM_PWM_Start(&htim1,TIM_CHANNEL_3);
    101. HAL_UART_Receive_IT(&huart2, &Res, 1);
    102. HAL_UART_Transmit_IT(&huart1, &Res, 1);
    103.   /* USER CODE END 2 */
    104.  
    105.   /* Infinite loop */
    106.   /* USER CODE BEGIN WHILE */
    107.   while (1)
    108.   {
    109. 		 HAL_Delay(100);
    110. 		USART2_RX_BUF[0]=S;
    111.     /* USER CODE END WHILE */
    112.  
    113.     /* USER CODE BEGIN 3 */
    114. //if(USART1_RX_STA & 0x8000)// 1000 0000 0000 0000 0000  判断是否接受到
    115. //{
    116. //	
    117. // while(huart1.gState != HAL_UART_STATE_READY){};			
    118. if(	USART2_RX_BUF[0]== '1')   // 当收到字符'1'的时候 机械臂向上运动
    119.    {__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,100);  //定时器1通道1输出一段脉冲
    120.     __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);//屏蔽定时器1通道2
    121. 		__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);//屏蔽定时器1通道3
    122. 	HAL_Delay(1);
    123. 		 HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_RESET);  //F407引脚 输出 低电平 使其向上运动
    124. 	 }
    125. 		if(USART2_RX_BUF[0]== '2')	               // 当收到字符'2' 的时候 机械臂向下运动
    126. 		{__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,100);//定时器1通道1输出一段脉冲
    127. 			__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);//屏蔽定时器1通道2
    128. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);	//屏蔽定时器1通道3
    129. 		HAL_Delay(1);
    130. 			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_4,GPIO_PIN_SET); //F407引脚 输出 高电平 使其向下运动
    131. 			}
    132. 			if(USART2_RX_BUF[0]== '3') // 当收到字符'3' 的时候 机械臂向左运动
    133. 			{
    134.       __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,100);//定时器1通道2输出一段脉冲
    135. 			__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);//屏蔽定时器1通道1
    136. 		  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);//屏蔽定时器1通道3
    137.      HAL_Delay(1);
    138. 		HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_RESET);//F407引脚 输出 低电平 使其向左运动
    139. 			}
    140. 			if(USART2_RX_BUF[0]== '4') // 当收到字符'4'的时候 机械臂向右运动
    141.      	{
    142. 		  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,100);//定时器1通道2输出一段脉冲
    143. 			__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);//屏蔽定时器1通道1
    144. 	  	__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);//屏蔽定时器1通道3
    145. 		  HAL_Delay(1);
    146. 			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_5,GPIO_PIN_SET);//F407引脚 输出 高电平 使其向右运动
    147. 			}
    148. 				if(USART2_RX_BUF[0]== '5')  // 当收到字符'5'的时候 机械臂向前运动
    149. 			{
    150. 		  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,100);//定时器1  通道3输出一段脉冲
    151. 	    HAL_Delay(1);
    152. 			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_RESET);//F407引脚 输出 低电平 使其向前运动
    153. 	  	__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);  //屏蔽定时器1通道1
    154. 		  __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);   //屏蔽定时器1通道2
    155. 			}
    156. 				if(USART2_RX_BUF[0]== '6')  // 当收到字符'6'的时候 机械臂向后运动
    157. 			{
    158. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,100);//定时器1 通道3 输出一段脉冲
    159. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);//屏蔽定时器1通道2
    160. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);//屏蔽定时器1通道1
    161. 		  HAL_Delay(1);
    162. 			HAL_GPIO_WritePin(GPIOA,GPIO_PIN_6,GPIO_PIN_SET);//F407引脚 输出 高电平 使其向后运动
    163. 			}
    164. 			if(USART2_RX_BUF[0]== 'A')  // 当收到字符'6'的时候 机械臂停止
    165. 			{
    166. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);//定时器1 通道3 输出一段脉冲
    167. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);//屏蔽定时器1通道2
    168. 		 __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);//屏蔽定时器1通道1
    169. 		  HAL_Delay(1);
    170. 			}
    171.  
    172. 			USART2_RX_STA=0;
    173. 		
    174.  }
    175.       HAL_Delay(10);
    176. }
    177. 	
    178.  
    179.  
    180. 	
    181.  
    182. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
    183. {
    184.     /* 判断是哪个串口触发的中断 */
    185.     if(huart ->Instance == USART2)
    186.     {
    187.  
    188. 				S=Res;
    189. 				HAL_UART_Transmit(&huart1,&S,1,1000);
    190. 				//等待下一次接收中断
    191. 			
    192. 				HAL_UART_Receive_IT(huart,&Res,1);
    193.     }
    194. }
    195.  
    196.   /* USER CODE END 3 */
    197.  
    198.  
    199. /**
    200.   * @brief System Clock Configuration
    201.   * @retval None
    202.   */
    203. void SystemClock_Config(void)
    204. {
    205.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    206.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    207.  
    208.   /** Configure the main internal regulator output voltage
    209.   */
    210.   __HAL_RCC_PWR_CLK_ENABLE();
    211.   __HAL_PWR_VOLTAGESCALING_CONFIG(PWR_REGULATOR_VOLTAGE_SCALE1);
    212.  
    213.   /** Initializes the RCC Oscillators according to the specified parameters
    214.   * in the RCC_OscInitTypeDef structure.
    215.   */
    216.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI;
    217.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    218.   RCC_OscInitStruct.HSICalibrationValue = RCC_HSICALIBRATION_DEFAULT;
    219.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_NONE;
    220.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    221.   {
    222.     Error_Handler();
    223.   }
    224.  
    225.   /** Initializes the CPU, AHB and APB buses clocks
    226.   */
    227.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
    228.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    229.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_HSI;
    230.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    231.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV1;
    232.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    233.  
    234.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_0) != HAL_OK)
    235.   {
    236.     Error_Handler();
    237.   }
    238. }
    239.  
    240. /* USER CODE BEGIN 4 */
    241.  
    242. /* USER CODE END 4 */
    243.  
    244. /**
    245.   * @brief  This function is executed in case of error occurrence.
    246.   * @retval None
    247.   */
    248. void Error_Handler(void)
    249. {
    250.   /* USER CODE BEGIN Error_Handler_Debug */
    251.   /* User can add his own implementation to report the HAL error return state */
    252.   __disable_irq();
    253.   while (1)
    254.   {
    255.   }
    256.   /* USER CODE END Error_Handler_Debug */
    257. }
    258.  
    259. #ifdef  USE_FULL_ASSERT
    260. /**
    261.   * @brief  Reports the name of the source file and the source line number
    262.   *         where the assert_param error has occurred.
    263.   * @param  file: pointer to the source file name
    264.   * @param  line: assert_param error line source number
    265.   * @retval None
    266.   */
    267. void assert_failed(uint8_t *file, uint32_t line)
    268. {
    269.   /* USER CODE BEGIN 6 */
    270.   /* User can add his own implementation to report the file name and line number,
    271.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    272.   /* USER CODE END 6 */
    273. }
    274. #endif /* USE_FULL_ASSERT */

      这是main.c里面的文件,思路很简单,就是,用 串口2接收来自手机的信号 具体是'1'  '2 '  '3'  '4' '5'  '6'  '7'  '8' 注意,这里传输的字符, 同时用串口1把这个数据发送给另一块单片机c8t6(为什么还要用一块单片机呢  ,因为抓取的爪子距离 zgt6 太远了,,所以干脆直接在那附近加一块单片机单独控制,)收到1.2 3 时根据不同情况输出一段pwm,控制器机械臂运动  

  3.  这是cubemx 的引脚图,也是相当明朗,用到了,定时器1的三个通道.还有两个串口 ,IIC是用来显示坐标的 但视觉部分还未加载,所以 ,目前没有用的   ,,同时用三个角PE9 到PE13输出高低电平,因为机械臂的电机时步进电机,输出高低时会控制正反转,当然了,控制步进电机还需要 步进电机驱动器 

    1. /* USER CODE BEGIN Header */
    2. /**
    3.   ******************************************************************************
    4.   * @file           : main.c
    5.   * @brief          : Main program body
    6.   ******************************************************************************
    7.   * @attention
    8.   *
    9.   * Copyright (c) 2023 STMicroelectronics.
    10.   * All rights reserved.
    11.   *
    12.   * This software is licensed under terms that can be found in the LICENSE file
    13.   * in the root directory of this software component.
    14.   * If no LICENSE file comes with this software, it is provided AS-IS.
    15.   *
    16.   ******************************************************************************
    17.   */
    18. /* USER CODE END Header */
    19. /* Includes ------------------------------------------------------------------*/
    20. #include "main.h"
    21. #include "tim.h"
    22. #include "usart.h"
    23. #include "gpio.h"
    24.  
    25. /* Private includes ----------------------------------------------------------*/
    26. /* USER CODE BEGIN Includes */
    27.  
    28. /* USER CODE END Includes */
    29.  
    30. /* Private typedef -----------------------------------------------------------*/
    31. /* USER CODE BEGIN PTD */
    32.  
    33. /* USER CODE END PTD */
    34.  
    35. /* Private define ------------------------------------------------------------*/
    36. /* USER CODE BEGIN PD */
    37. /* USER CODE END PD */
    38.  
    39. /* Private macro -------------------------------------------------------------*/
    40. /* USER CODE BEGIN PM */
    41.  
    42. /* USER CODE END PM */
    43.  
    44. /* Private variables ---------------------------------------------------------*/
    45.  
    46. /* USER CODE BEGIN PV */
    47.  
    48. /* USER CODE END PV */
    49.  
    50. /* Private function prototypes -----------------------------------------------*/
    51. void SystemClock_Config(void);
    52. /* USER CODE BEGIN PFP */
    53. #define USART_REC_LEN 200
    54. uint8_t		Res;  //数据存放的地方
    55. uint8_t 	USART1_RX_BUF[USART_REC_LEN];     //接收缓冲,最大USART_REC_LEN个字节.（一般给200，接收数据量大就增加）
    56. uint16_t  USART1_RX_STA;       			 				//接收状态标记	
    57. /* USER CODE END PFP */
    58. /* USER CODE END PFP */
    59.  
    60. /* Private user code ---------------------------------------------------------*/
    61. /* USER CODE BEGIN 0 */
    62.  
    63. /* USER CODE END 0 */
    64.  
    65. /**
    66.   * @brief  The application entry point.
    67.   * @retval int
    68.   */
    69. int main(void)
    70. {
    71.   /* USER CODE BEGIN 1 */
    72.  
    73.   /* USER CODE END 1 */
    74.  
    75.   /* MCU Configuration--------------------------------------------------------*/
    76.  
    77.   /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
    78.   HAL_Init();
    79.  
    80.   /* USER CODE BEGIN Init */
    81.  
    82.   /* USER CODE END Init */
    83.  
    84.   /* Configure the system clock */
    85.   SystemClock_Config();
    86.  
    87.   /* USER CODE BEGIN SysInit */
    88.  
    89.   /* USER CODE END SysInit */
    90.  
    91.   /* Initialize all configured peripherals */
    92.   MX_GPIO_Init();
    93.   MX_TIM3_Init();
    94.   MX_USART1_UART_Init();
    95. 	HAL_TIM_PWM_Start(&htim3,TIM_CHANNEL_1);
    96. 	HAL_UART_Receive_IT(&huart1, &Res, 1);
    97.   /* USER CODE BEGIN 2 */
    98.  
    99.   /* USER CODE END 2 */
    100.  
    101.   /* Infinite loop */
    102.   /* USER CODE BEGIN WHILE */
    103.   while (1)
    104.   {
    105.     /* USER CODE END WHILE */
    106. if(USART1_RX_STA & 0x8000)// 1000 0000 0000 0000 0000  判断是否接受到
    107. {
    108. 	
    109.  while(huart1.gState != HAL_UART_STATE_READY){};			
    110. if(	USART1_RX_BUF[0]== '8')   // 当收到字符'1'的时候 机械臂向上运动
    111.    {__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,500);  //定时器1通道1输出一段脉冲
    112.  
    113. 	HAL_Delay(1);
    114.  
    115. 	 }
    116. 	
    117. 	if(	USART1_RX_BUF[0]== '9')   
    118.    {__HAL_TIM_SET_COMPARE(&htim3,TIM_CHANNEL_1,0);  
    119.  
    120. 	HAL_Delay(1);
    121.  
    122. 	 }
    123. 	
    124. 		
    125. 		
    126. //				if(USART1_RX_BUF[0]== '7')
    127. //			{
    128. //		  __HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_1,0);
    129. //		  HAL_Delay(10);
    130. //			}
    131. //				if(USART1_RX_BUF[0]== '8')
    132. //				{ __HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_1,0);
    133. //					__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_2,0);
    134. //					__HAL_TIM_SET_COMPARE(&htim1,TIM_CHANNEL_3,0);
    135. //					
    136. //				}
    137. //			
    138. //			else 
    139. //			{
    140. //				__HAL_TIM_SET_COMPARE(&htim2,TIM_CHANNEL_1,25);
    141. //			}
    142. 			USART1_RX_STA=0;
    143. 		
    144.  }
    145.    HAL_Delay(10);
    146.     /* USER CODE BEGIN 3 */
    147.   }
    148.   /* USER CODE END 3 */
    149. }
    150.  
    151. void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
    152. {
    153.     /* 判断是哪个串口触发的中断 */
    154.     if(huart ->Instance == USART1)
    155.     {
    156.  
    157. 			
    158. 				if((USART1_RX_STA&0x8000)==0)//接收未完成
    159. 				{
    160. 					//读取接收到的数据
    161. 					if(Res==0x0D)
    162. 					{
    163. 						USART1_RX_STA|=0x8000;//读取到数据 标志位置1
    164. 						HAL_UART_Receive_IT(&huart1, &Res, 1);//接收的数据存到Res
    165. 					}
    166. 					else
    167. 					{
    168. 						USART1_RX_BUF[USART1_RX_STA&0X3FFF]=Res;// Res的数据
    169. 						USART1_RX_STA++;
    170. 						if(USART1_RX_STA>(USART_REC_LEN-1))
    171. 							USART1_RX_STA=0;
    172. 					}		 
    173. 				}
    174. 				//等待下一次接收中断
    175. 				HAL_UART_Receive_IT(huart,&Res,1);
    176.     }
    177. }
    178. /**
    179.   * @brief System Clock Configuration
    180.   * @retval None
    181.   */
    182. void SystemClock_Config(void)
    183. {
    184.   RCC_OscInitTypeDef RCC_OscInitStruct = {0};
    185.   RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};
    186.  
    187.   /** Initializes the RCC Oscillators according to the specified parameters
    188.   * in the RCC_OscInitTypeDef structure.
    189.   */
    190.   RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
    191.   RCC_OscInitStruct.HSEState = RCC_HSE_ON;
    192.   RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
    193.   RCC_OscInitStruct.HSIState = RCC_HSI_ON;
    194.   RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
    195.   RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
    196.   RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
    197.   if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
    198.   {
    199.     Error_Handler();
    200.   }
    201.  
    202.   /** Initializes the CPU, AHB and APB buses clocks
    203.   */
    204.   RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
    205.                               |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
    206.   RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
    207.   RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
    208.   RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
    209.   RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;
    210.  
    211.   if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
    212.   {
    213.     Error_Handler();
    214.   }
    215. }
    216.  
    217. /* USER CODE BEGIN 4 */
    218.  
    219. /* USER CODE END 4 */
    220.  
    221. /**
    222.   * @brief  This function is executed in case of error occurrence.
    223.   * @retval None
    224.   */
    225. void Error_Handler(void)
    226. {
    227.   /* USER CODE BEGIN Error_Handler_Debug */
    228.   /* User can add his own implementation to report the HAL error return state */
    229.   __disable_irq();
    230.   while (1)
    231.   {
    232.   }
    233.   /* USER CODE END Error_Handler_Debug */
    234. }
    235.  
    236. #ifdef  USE_FULL_ASSERT
    237. /**
    238.   * @brief  Reports the name of the source file and the source line number
    239.   *         where the assert_param error has occurred.
    240.   * @param  file: pointer to the source file name
    241.   * @param  line: assert_param error line source number
    242.   * @retval None
    243.   */
    244. void assert_failed(uint8_t *file, uint32_t line)
    245. {
    246.   /* USER CODE BEGIN 6 */
    247.   /* User can add his own implementation to report the file name and line number,
    248.      ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
    249.   /* USER CODE END 6 */
    250. }
    251. #endif /* USE_FULL_ASSERT */

     这里是c8t6的代码,就是用来控制爪子的抓取的,收到8抓取,9松开抓子 

  5.   

     c8t6的cubemx配置很简单,就是打开了串口和一个定时器,其它的引脚暂时没用, 

  6. 最后 就是   

 这是手机蓝牙端,按up发送'1',dowm发送'2'  送开时发送A  当然也可以自己

 最后是视频效果

                   

蓝牙机械臂

总体代码链接:

链接：https://pan.baidu.com/s/124qH9PBN6jMnlYq1KngEoA?pwd=7777 
提取码：7777 
--来自百度网盘超级会员V3的分享

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