开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_stm32桌宠

原视频：好，自制一个桌面宠物！_哔哩哔哩_bilibili

基础所需：基础电路认识，C语言，STM32开发，STM32CUBEIDE或CUBEMX和Keil使用（重要），一点点艺术细胞、一点点耐心。

开源协议：严禁商用；以视频或其他形式发布到互联网上的（包括成果和资料等），必须署名作者“有出息的男孩_”。

CAUTION:本文重点在第一代桌面宠物代码部分的开源，是基于HAL库。硬件手工部分不出教程（没必要）可以直接看视频，文末附步态参考出处，接线图，舵机安排。

硬件配置：

主控：STM32F103C8T6 粉色沉金板（也可以用C6T6,价格便宜一半）

舵机：SG90 *4

屏幕：1.3寸OLED （IIC驱动）

供电：锂电池 *2(3.7V 30mm*40mm 400mah以上，尺寸参数完全一样的两块普通锂电池并联，输出功率大，一块电池输出功率不够) + 锂电池充放电模块（不会自动断电、适配3.7V锂电池、输出5V、充放电同口）

蓝牙：低功耗蓝牙（BLE,串口透传，便宜又好用)

软件配置：

手机app开发：appinventor制作（这里不附教程，因为我也不熟，唯一有用的建议是我的蓝牙模组要用BLE而不是普通蓝牙,需另外下载并配置，建议另寻他佬教程

单片机开发：

平台：STM32CUBEIDE（等效STM32CUBEMX+Keil）

软件开源：  

提纲：

1.定时器pwm波输出

2.串口信息交互

3.OLED显示  

CUBEMX配置：

（这里没有配置驱动屏幕的IIC,选择直接软件模拟，文末会附驱动代码。

1.RCC时钟配置：

(无脑选择外部时钟，无脑拉最高频。

2.SYS配置：

（此项没配置正确可能会导致芯片烧录一次后就再也烧录不了的情况 

3.定时器配置PWM输出模式：

（一个定时器直接开四个PWM通道即可，并关注输出引脚是否正确。根据舵机参数，配置PWM频率为50Hz。通道一为前右脚，通道二为后右脚，通道三为前左脚，通道四为后左脚，脚的位置和角度见文末图，是参考文末大佬的视频的

注意引脚为PA0,PA1,PA2,PA3。

4.配置串口

（也很无脑，但要根据蓝牙模块的参数配置传输速率（Baud Rate)，我是115200。

并且开中断NVIC,优先级按经验来填2就可。

考虑到单片机引脚位置，需要把串口引脚重定向到PB6和PB7。 

5.IIC引脚配置（软件模拟IIC，引脚任意两个IO就可以，要命名成这个是因为和驱动代码匹配)

小Tip:

经验所得，把系统滴答时钟的优先级拉最高可以防止卡死在HAL_Delay里面。

6.最后生成工程，用keil的这里改成MDK_ARM

推荐打勾这个，为每个外设建.c和.h文件，使工程结构更清晰。

最后直接ctrl+s即可生成工程（用STM32CUBEMX+Keil的点Generate code建立工程）

代码部分：（最后会附完整代码，其中LED的控制可有可无

（即“HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);”）。

1.PWM波输出（姿态

uint16_t angle(uint8_t angle) //角度CCR值转换{return angle*2000/180+500;}void Rbt_Init(void) //立正{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(100);}void move_forward(void) //前进{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_behind(void) //后退{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_right(void) //右转{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);}void move_left(void) //左转{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_swing(void) //摇摆{__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(50));HAL_Delay(250);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(130));HAL_Delay(250);}void move_stretch(void){ //伸懒腰+坐下招手__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));if(TIM2->CCR1CCR3>angle(25)){for(uint8_t i=0;i<70;i++){ //循环算法，可以减慢舵机运转速度__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));HAL_Delay(move_speed);}HAL_Delay(1000);for(uint8_t i=0;i<70;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));HAL_Delay(move_speed);}for(uint8_t i=0;i<65;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));HAL_Delay(move_speed);}for(uint8_t i=0;iCCR3CCR1>angle(20)){for(uint8_t i=0;iCCR2CCR4>angle(20)){for(uint8_t i=0;i<75;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));HAL_Delay(move_speed);}}}

2. 串口接收

（采用中断

while前开一下

HAL_UART_Receive_IT(&huart1, &move_mode, 1);

 中断回调函数（用来切换表情，然后再开启中断接收（不然后面会接收不到）

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){//重新设置中断if(move_mode == 8){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//前进脸}else if(move_mode == 2){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//后退脸}else if(move_mode == 4){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP4);//左转脸}else if(move_mode == 6){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP3);//右转脸}else if(move_mode == \'A\'){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//摇摆脸}HAL_UART_Receive_IT(&huart1, &move_mode, 1); //再次开启中断接收}

串口重定向。在usart.c末尾添加以下代码（用于定义printf） 

注意：此重定向代码不适用于keil工程，使用keil开发的小伙伴可以自行搜索keil版本的串口重定向，或者干脆手动删去所有“printf”语句。 

#ifdef __GNUC__#define PUTCHAR_PROTOTYPE int __io_putchar(int ch)#else#define PUTCHAR_PROTOTYPE int fputc(int ch. FILE *f)#endif//重定向printf函数PUTCHAR_PROTOTYPE{ HAL_UART_Transmit(&huart1,(uint8_t *)&ch,1,0xFFFF);//输出指向串口USART1 return ch;}

 3.主函数内while循环（运行当前动作

while (1) { if(move_mode == 8){//前进 move_forward(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 2){//后退 move_behind(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 4){//左转 move_left(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 6){//右转 move_right(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 5 || move_mode == \'C\'){//立正 OLED_DrawBMP(0,0,128,8,BMP1); Rbt_Init(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == \'A\'){//摇摆 move_swing(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == \'B\'){//坐下 if(flag==0){ OLED_DrawBMP(0,0,128,8,BMP2); move_stretch(); OLED_DrawBMP(0,0,128,8,BMP5); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=1; } } else if(move_mode == \'D\'){//睡觉 if(flag==0){ move_sleep(); OLED_DrawBMP(0,0,128,8,BMP6); flag=1; } } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ }

main文件全部代码：

/* USER CODE END Header *//* Includes ------------------------------------------------------------------*/#include \"main.h\"#include \"tim.h\"#include \"usart.h\"#include \"gpio.h\"/* Private includes ----------------------------------------------------------*//* USER CODE BEGIN Includes */#include #include \"oled.h\"#include \"bmp.h\"/* USER CODE END Includes *//* Private typedef -----------------------------------------------------------*//* USER CODE BEGIN PTD *//* USER CODE END PTD *//* Private define ------------------------------------------------------------*//* USER CODE BEGIN PD *//* USER CODE END PD *//* Private macro -------------------------------------------------------------*//* USER CODE BEGIN PM *//* USER CODE END PM *//* Private variables ---------------------------------------------------------*//* USER CODE BEGIN PV */uint8_t move_mode = 0;uint8_t flag = 0;#define move_delay 150 //一般动作调速#define move_speed 4 //慢速动作调速/* USER CODE END PV *//* Private function prototypes -----------------------------------------------*/void SystemClock_Config(void);/* USER CODE BEGIN PFP */void Rbt_Init(void);uint16_t angle(uint8_t angle);void move_forward(void);void move_behind(void);void move_right(void);void move_left(void);void move_swing(void);void move_stretch(void);void move_test(void);void move_sleep(void);/* USER CODE END PFP *//* Private user code ---------------------------------------------------------*//* USER CODE BEGIN 0 */void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){//重新设置中断if(move_mode == 8){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//前进脸}else if(move_mode == 2){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//后退脸}else if(move_mode == 4){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP4);//左转脸}else if(move_mode == 6){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP3);//右转脸}else if(move_mode == \'A\'){OLED_Clear();OLED_DrawBMP(0,0,128,8,BMP2);//摇摆脸}HAL_UART_Receive_IT(&huart1, &move_mode, 1);}/* USER CODE END 0 *//** * @brief The application entry point. * @retval int */int main(void){ /* USER CODE BEGIN 1 */ /* USER CODE END 1 */ /* MCU Configuration--------------------------------------------------------*/ /* Reset of all peripherals, Initializes the Flash interface and the Systick. */ HAL_Init(); /* USER CODE BEGIN Init */ /* USER CODE END Init */ /* Configure the system clock */ SystemClock_Config(); /* USER CODE BEGIN SysInit */ /* USER CODE END SysInit */ /* Initialize all configured peripherals */ MX_GPIO_Init(); MX_USART1_UART_Init(); MX_TIM2_Init(); /* USER CODE BEGIN 2 */ /* USER CODE END 2 */ /* Infinite loop */ /* USER CODE BEGIN WHILE */ HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);//开启PWM输出 HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2); HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3); HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4); HAL_UART_Receive_IT(&huart1, &move_mode, 1);//开启中断接收 OLED_Init();//屏幕初始化 OLED_Clear(); OLED_DrawBMP(0,0,128,8,BMP6);//立正脸 while (1) { /*__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(120)); HAL_Delay(1);*/ if(move_mode == 8){//前进 move_forward(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 2){//后退 move_behind(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 4){//左转 move_left(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 6){//右转 move_right(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == 5 || move_mode == \'C\'){//立正 OLED_DrawBMP(0,0,128,8,BMP1); Rbt_Init(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == \'A\'){//摇摆 move_swing(); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=0; } else if(move_mode == \'B\'){//坐下 if(flag==0){ OLED_DrawBMP(0,0,128,8,BMP2); move_stretch(); OLED_DrawBMP(0,0,128,8,BMP5); HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin); flag=1; } } else if(move_mode == \'D\'){//睡觉 if(flag==0){ move_sleep(); OLED_DrawBMP(0,0,128,8,BMP6); flag=1; } } /* USER CODE END WHILE */ /* USER CODE BEGIN 3 */ } /* USER CODE END 3 */}/** * @brief System Clock Configuration * @retval None */void SystemClock_Config(void){ RCC_OscInitTypeDef RCC_OscInitStruct = {0}; RCC_ClkInitTypeDef RCC_ClkInitStruct = {0}; /** Initializes the RCC Oscillators according to the specified parameters * in the RCC_OscInitTypeDef structure. */ RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE; RCC_OscInitStruct.HSEState = RCC_HSE_ON; RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1; RCC_OscInitStruct.HSIState = RCC_HSI_ON; RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON; RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE; RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9; if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK) { Error_Handler(); } /** Initializes the CPU, AHB and APB buses clocks */ RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK; RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1; RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2; RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1; if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK) { Error_Handler(); }}/* USER CODE BEGIN 4 */void Rbt_Init(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(100);}uint16_t angle(uint8_t angle){return angle*2000/180+500;}void move_forward(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_behind(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_right(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);}void move_left(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));HAL_Delay(move_delay);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));HAL_Delay(move_delay);}void move_swing(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(50));HAL_Delay(200);__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(50));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(130));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(130));HAL_Delay(200);}void move_stretch(void){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));if(TIM2->CCR1CCR3>angle(25)){for(uint8_t i=0;i<70;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));HAL_Delay(move_speed);}HAL_Delay(1000);for(uint8_t i=0;i<70;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));HAL_Delay(move_speed);}for(uint8_t i=0;i<65;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));HAL_Delay(move_speed);}for(uint8_t i=0;iCCR3CCR1>angle(20)){for(uint8_t i=0;iCCR2CCR4>angle(20)){for(uint8_t i=0;i<75;i++){__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));HAL_Delay(move_speed);}}}/* USER CODE END 4 *//** * @brief This function is executed in case of error occurrence. * @retval None */void Error_Handler(void){ /* USER CODE BEGIN Error_Handler_Debug */ /* User can add his own implementation to report the HAL error return state */ __disable_irq(); while (1) { } /* USER CODE END Error_Handler_Debug */}#ifdef USE_FULL_ASSERT/** * @brief Reports the name of the source file and the source line number * where the assert_param error has occurred. * @param file: pointer to the source file name * @param line: assert_param error line source number * @retval None */void assert_failed(uint8_t *file, uint32_t line){ /* USER CODE BEGIN 6 */ /* User can add his own implementation to report the file name and line number, ex: printf(\"Wrong parameters value: file %s on line %d\\r\\n\", file, line) */ /* USER CODE END 6 */}#endif /* USE_FULL_ASSERT */

最后附OLED驱动(评价是不如去参考别人的 

1.\"oled.c\"

#include \"oled.h\"//#include \"stdlib.h\"#include \"oledfont.h\" #include \"main.h\"void IIC_Start(){OLED_SCLK_Set() ;OLED_SDIN_Set();OLED_SDIN_Clr();OLED_SCLK_Clr();}/**********************************************//IIC Stop**********************************************/void IIC_Stop(){OLED_SCLK_Clr();OLED_SDIN_Clr();OLED_SDIN_Set();OLED_SCLK_Set() ;}/**********************************************// IIC Write byte**********************************************/void Write_IIC_Byte(unsigned char IIC_Byte){unsigned char i;unsigned char m,da;da=IIC_Byte;for(i=0;i<8;i++){m=da;OLED_SCLK_Clr();m=m&0x80;if(m==0x80){OLED_SDIN_Set();}else OLED_SDIN_Clr();da=da<<1;OLED_SCLK_Set();}OLED_SCLK_Clr();OLED_SCLK_Set() ;}/**********************************************// IIC Write Command**********************************************/void Write_IIC_Command(unsigned char IIC_Command){ IIC_Start(); Write_IIC_Byte(0x78); //Slave address,SA0=0 Write_IIC_Byte(0x00);//write command Write_IIC_Byte(IIC_Command); IIC_Stop();}/**********************************************// IIC Write Data**********************************************/void Write_IIC_Data(unsigned char IIC_Data){ IIC_Start(); Write_IIC_Byte(0x78);//D/C#=0; R/W#=0 Write_IIC_Byte(0x40);//write data Write_IIC_Byte(IIC_Data); IIC_Stop();}void OLED_WR_Byte(unsigned dat,unsigned cmd){if(cmd){ IIC_Start(); Write_IIC_Byte(0x78);//D/C#=0; R/W#=0 Write_IIC_Byte(0x40);//write data Write_IIC_Byte(dat); IIC_Stop();}else {IIC_Start(); Write_IIC_Byte(0x78); //Slave address,SA0=0 Write_IIC_Byte(0x00);//write command Write_IIC_Byte(dat); IIC_Stop();}}/********************************************// fill_Picture********************************************/void fill_picture(unsigned char fill_Data){unsigned char m,n;for(m=0;m<8;m++){OLED_WR_Byte(0xb0+m,0);//page0-page1OLED_WR_Byte(0x00,0);//low column start addressOLED_WR_Byte(0x10,0);//high column start addressfor(n=0;n0;Del_50ms--)for(m=6245;m>0;m--);}void Delay_1ms(unsigned int Del_1ms){unsigned char j;while(Del_1ms--){for(j=0;j>4)|0x10,OLED_CMD);OLED_WR_Byte((x&0x0f)|0x01,OLED_CMD); } //����OLED��ʾ void OLED_Display_On(void){OLED_WR_Byte(0X8D,OLED_CMD); //SET DCDC����OLED_WR_Byte(0X14,OLED_CMD); //DCDC ONOLED_WR_Byte(0XAF,OLED_CMD); //DISPLAY ON}//�ر�OLED��ʾ void OLED_Display_Off(void){OLED_WR_Byte(0X8D,OLED_CMD); //SET DCDC����OLED_WR_Byte(0X10,OLED_CMD); //DCDC OFFOLED_WR_Byte(0XAE,OLED_CMD); //DISPLAY OFF} //��������,������,������Ļ�Ǻ�ɫ��!��û����һ��!!! void OLED_Clear(void) { uint8_t i,n;for(i=0;i<8;i++) { OLED_WR_Byte (0xb0+i,OLED_CMD); //����ҳ��ַ��0~7��OLED_WR_Byte (0x02,OLED_CMD); //������ʾλ�á��е͵�ַOLED_WR_Byte (0x10,OLED_CMD); //������ʾλ�á��иߵ�ַ for(n=0;n<128;n++)OLED_WR_Byte(0,OLED_DATA); } //������ʾ}void OLED_On(void) { uint8_t i,n;for(i=0;i<8;i++) { OLED_WR_Byte (0xb0+i,OLED_CMD); //����ҳ��ַ��0~7��OLED_WR_Byte (0x02,OLED_CMD); //������ʾλ�á��е͵�ַOLED_WR_Byte (0x10,OLED_CMD); //������ʾλ�á��иߵ�ַ for(n=0;nMax_Column-1){x=0;y=y+2;}if(Char_Size ==16){OLED_Set_Pos(x,y);for(i=0;i<8;i++)OLED_WR_Byte(F8X16[c*16+i],OLED_DATA);OLED_Set_Pos(x,y+1);for(i=0;i<8;i++)OLED_WR_Byte(F8X16[c*16+i+8],OLED_DATA);}else {OLED_Set_Pos(x,y);for(i=0;i<6;i++)OLED_WR_Byte(F6x8[c][i],OLED_DATA);}}//m^n����uint32_t oled_pow(uint8_t m,uint8_t n){uint32_t result=1;while(n--)result*=m; return result;} //��ʾ2������//x,y :������� //len :���ֵ�λ��//size:�����С//mode:ģʽ0,���ģʽ;1,����ģʽ//num:��ֵ(0~4294967295); void OLED_ShowNum(uint8_t x,uint8_t y,uint32_t num,uint8_t len,uint8_t size2){ uint8_t t,temp;uint8_t enshow=0;for(t=0;t<len;t++){temp=(num/oled_pow(10,len-t-1))%10;if(enshow==0&&t120){x=0;y+=2;}j++;}}//��ʾ����void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no){ uint8_t t,adder=0;OLED_Set_Pos(x,y); for(t=0;t<16;t++){OLED_WR_Byte(Hzk[2*no][t],OLED_DATA);adder+=1; }OLED_Set_Pos(x,y+1); for(t=0;t<16;t++){OLED_WR_Byte(Hzk[2*no+1][t],OLED_DATA);adder+=1; }}/***********������������ʾ��ʾBMPͼƬ128��64��ʼ������(x,y),x�ķ�Χ0��127��yΪҳ�ķ�Χ0��7*****************/void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[]){ unsigned int j=0; unsigned char x,y; if(y1%8==0) y=y1/8; else y=y1/8+1;for(y=y0;y<y1;y++){OLED_Set_Pos(x0,y); for(x=x0;x<x1;x++) { OLED_WR_Byte(BMP[j++],OLED_DATA); }}} //��ʼ��SSD1306 void OLED_Init(void){ // GPIO_InitTypeDef GPIO_InitStructure;//// RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOD|RCC_APB2Periph_GPIOG, ENABLE); //ʹ��PC,D,G�˿�ʱ��////GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_3|GPIO_Pin_8; //PD3,PD6�������// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP; //�������//GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;//�ٶ�50MHz// GPIO_Init(GPIOD, &GPIO_InitStructure); //��ʼ��GPIOD3,6// GPIO_SetBits(GPIOD,GPIO_Pin_4|GPIO_Pin_5|GPIO_Pin_6|GPIO_Pin_7|GPIO_Pin_3|GPIO_Pin_8);//PD3,PD6 �����// #if OLED_MODE==1//// GPIO_InitStructure.GPIO_Pin =0xFF; //PC0~7 OUT�������// GPIO_Init(GPIOC, &GPIO_InitStructure);// GPIO_SetBits(GPIOC,0xFF); //PC0~7�����//// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15; //PG13,14,15 OUT�������// GPIO_Init(GPIOG, &GPIO_InitStructure);// GPIO_SetBits(GPIOG,GPIO_Pin_13|GPIO_Pin_14|GPIO_Pin_15); //PG13,14,15 OUT �����//// #else// GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1; //PC0,1 OUT�������// GPIO_Init(GPIOC, &GPIO_InitStructure);// GPIO_SetBits(GPIOC,GPIO_Pin_0|GPIO_Pin_1); //PC0,1 OUT �����////GPIO_InitStructure.GPIO_Pin = GPIO_Pin_15; //PG15 OUT������� RST// GPIO_Init(GPIOG, &GPIO_InitStructure);// GPIO_SetBits(GPIOG,GPIO_Pin_15); //PG15 OUT �����////// #endifOLED_WR_Byte(0xAE,OLED_CMD);//--display offOLED_WR_Byte(0x02,OLED_CMD);//---set low column addressOLED_WR_Byte(0x10,OLED_CMD);//---set high column addressOLED_WR_Byte(0x40,OLED_CMD);//--set start line address OLED_WR_Byte(0xB0,OLED_CMD);//--set page addressOLED_WR_Byte(0x81,OLED_CMD); // contract controlOLED_WR_Byte(0xFF,OLED_CMD);//--128 OLED_WR_Byte(0xA1,OLED_CMD);//set segment remap OLED_WR_Byte(0xA6,OLED_CMD);//--normal / reverseOLED_WR_Byte(0xA8,OLED_CMD);//--set multiplex ratio(1 to 64)OLED_WR_Byte(0x3F,OLED_CMD);//--1/64 dutyOLED_WR_Byte(0xAD,OLED_CMD);//set charge pump enableOLED_WR_Byte(0x8B,OLED_CMD);//-0x8B �ڹ� VCCOLED_WR_Byte(0x33,OLED_CMD);//-0X30---0X33 set VPP 9VOLED_WR_Byte(0xC8,OLED_CMD);//Com scan directionOLED_WR_Byte(0xD3,OLED_CMD);//-set display offsetOLED_WR_Byte(0x00,OLED_CMD);//OLED_WR_Byte(0xD5,OLED_CMD);//set osc divisionOLED_WR_Byte(0x80,OLED_CMD);//OLED_WR_Byte(0xD8,OLED_CMD);//set area color mode offOLED_WR_Byte(0x05,OLED_CMD);//OLED_WR_Byte(0xD9,OLED_CMD);//Set Pre-Charge PeriodOLED_WR_Byte(0x1F,OLED_CMD);//OLED_WR_Byte(0xDA,OLED_CMD);//set com pin configuartionOLED_WR_Byte(0x12,OLED_CMD);//OLED_WR_Byte(0xDB,OLED_CMD);//set VcomhOLED_WR_Byte(0x40,OLED_CMD);//OLED_WR_Byte(0xAF,OLED_CMD);//--turn on oled panel} 

2.\"oled.h\"

#ifndef __OLED_H#define __OLED_H#include \"main.h\"#include \"stdlib.h\"//#include \"gpio.h\"#define OLED_MODE 0#define SIZE 8#define XLevelL0x00#define XLevelH0x10#define Max_Column128#define Max_Row64#defineBrightness0xFF #define X_WIDTH 128#define Y_WIDTH 64 //-----------------OLED IIC�˿ڶ���---------------- #define OLED_SCLK_Clr() HAL_GPIO_WritePin(SCL_GPIO_Port,SCL_Pin,GPIO_PIN_RESET)//SCL IIC�ӿڵ�ʱ���ź�#define OLED_SCLK_Set() HAL_GPIO_WritePin(SCL_GPIO_Port,SCL_Pin,GPIO_PIN_SET)#define OLED_SDIN_Clr() HAL_GPIO_WritePin(SDA_GPIO_Port,SDA_Pin,GPIO_PIN_RESET)//SDA IIC�ӿڵ������ź�#define OLED_SDIN_Set() HAL_GPIO_WritePin(SDA_GPIO_Port,SDA_Pin,GPIO_PIN_SET) #define OLED_CMD 0//д����#define OLED_DATA 1//д����//OLED�����ú���void OLED_WR_Byte(unsigned dat,unsigned cmd); void OLED_Display_On(void);void OLED_Display_Off(void); void OLED_Init(void);void OLED_Clear(void);void OLED_DrawPoint(uint8_t x,uint8_t y,uint8_t t);void OLED_Fill(uint8_t x1,uint8_t y1,uint8_t x2,uint8_t y2,uint8_t dot);void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size);void OLED_ShowNum(uint8_t x,uint8_t y,uint32_t num,uint8_t len,uint8_t size);void OLED_ShowString(uint8_t x,uint8_t y, uint8_t *p,uint8_t Char_Size);void OLED_Set_Pos(unsigned char x, unsigned char y);void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no);void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[]);void Delay_50ms(unsigned int Del_50ms);void Delay_1ms(unsigned int Del_1ms);void fill_picture(unsigned char fill_Data);void Picture();void IIC_Start();void IIC_Stop();void Write_IIC_Command(unsigned char IIC_Command);void Write_IIC_Data(unsigned char IIC_Data);void Write_IIC_Byte(unsigned char IIC_Byte);#endif 

 3.\"bmp.h\"(表情的模

#ifndef __BMP_H#define __BMP_Hunsigned char BMP1[] = //立正脸 { 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80, 0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x80,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0xF8,0xFE,0xFF,0xFF,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFE,0xF8,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0xF8,0xFE,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFF,0xFF,0xFE,0xF8,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF, 0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00, 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char BMP4[] 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(128 X 64 )*/};unsigned char BMP5[] 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(128 X 64 )*/};unsigned char BMP6[] ={ 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0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*\"C:\\Users\\zjyhuoer\\Desktop\\9.bmp\",0*/};#endif

4.\"oledfont.h\"字模（其实和本项目无关，但还是要加，防止报错）

#ifndef __OLEDFONT_H#define __OLEDFONT_H //常用ASCII表//偏移量32//ASCII字符集//偏移量32//大小:12*6/************************************6*8的点阵************************************/const unsigned char F6x8[][6] ={0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// !0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// \"0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// #0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// %0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// &0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// \'0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// (0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// )0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// *0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// +0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// ,0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// -0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// .0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// /0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 00x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 10x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 20x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 30x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 40x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 50x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 60x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 70x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 80x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 90x00, 0x00, 0x36, 0x36, 0x00, 0x00,// :0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ;0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// 0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ?0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 550x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ]0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// \'0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines};/****************************************8*16的点阵************************************/const unsigned char 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,// 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};char Hzk[][32]={ {0x00,0x00,0x20,0x20,0xE0,0x20,0x10,0x40,0x40,0xC0,0x7C,0x40,0x20,0xE0,0x00,0x00}, {0x00,0x04,0x04,0x04,0x03,0x22,0x12,0x09,0x04,0x03,0x30,0x30,0x1E,0x01,0x00,0x00},/*\"功\",0*//* (16 X 16 , 楷体 )*/ {0x00,0x00,0x00,0x30,0xE8,0x44,0xC0,0x40,0xF0,0x5E,0xCA,0x28,0xA0,0x60,0x00,0x00}, {0x00,0x04,0x02,0x7F,0x00,0x20,0x18,0x11,0x25,0x4D,0x4A,0x43,0x54,0x64,0x0C,0x00},/*\"德\",1*//* (16 X 16 , 楷体 )*/};#endif

 尾巴：

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接线图：

注意仅是一块普通锂电池才需要拆电池保护板！！！目前经过验证，两块电池并联输出功率足够，运行稳定，不需要拆除保护板。

小机器狗的运动步态我也是参考b站大佬的作品（原视频：【步态详解】人人都可制作的WiFi遥控迷你四足机器人_哔哩哔哩_bilibili

他做得比我好，且也开源>-<