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。
CAUTION:本文重点在代码部分的开源，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P2，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
舵机：SG90 *4
屏幕：1.3寸OLED （IIC驱动）
供电：锂电池 (3.7V 30mm*40mm 800mah) + 锂电池充放电模块（不会自动断电，适配3.7V锂电池,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，需要app的可B站私信
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.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
考虑到单片机引脚位置，可以把通道2、3复用到A3A4，方便接线。
3.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。
4.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。
5.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->CCR1<angle(155) && TIM2->CCR3>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;i<20;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); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(1000); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70)); }}void move_sleep(void){ //睡眠 if(TIM2->CCR3<angle(160) && TIM2->CCR1>angle(20)){ for(uint8_t i=0;i<75;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); } } if(TIM2->CCR2<angle(160) && TIM2->CCR4>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}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 <stdio.h>#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->CCR1<angle(155) && TIM2->CCR3>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;i<20;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); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(1000); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140)); HAL_Delay(500); __HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70)); }}void move_sleep(void){ if(TIM2->CCR3<angle(160) && TIM2->CCR1>angle(20)){ for(uint8_t i=0;i<75;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); } } if(TIM2->CCR2<angle(160) && TIM2->CCR4>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-page1 OLED_WR_Byte(0x00,0); //low column start address OLED_WR_Byte(0x10,0); //high column start address for(n=0;n<128;n++) { OLED_WR_Byte(fill_Data,1); } }}/***********************Delay****************************************//*void Delay_50ms(unsigned int Del_50ms){ unsigned int m; for(;Del_50ms>0;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<123;j++); }}*///�������� void OLED_Set_Pos(unsigned char x, unsigned char y) { OLED_WR_Byte(0xb0+y,OLED_CMD); OLED_WR_Byte(((x&0xf0)>>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 ON OLED_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 OFF OLED_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;n<128;n++)OLED_WR_Byte(1,OLED_DATA); } //������ʾ}//��ָ��λ����ʾһ���ַ�,���������ַ�//x:0~127//y:0~63//mode:0,������ʾ;1,������ʾ //size:ѡ������ 16/12 void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size){ unsigned char c=0,i=0; c=chr-' ';//�õ�ƫ�ƺ��ֵ if(x>Max_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:ģʽ 0,���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&&t<(len-1)) { if(temp==0) { OLED_ShowChar(x+(size2/2)*t,y,' ',size2); continue; }else enshow=1; } OLED_ShowChar(x+(size2/2)*t,y,temp+'0',size2); }} //��ʾһ���ַ��Ŵ�void OLED_ShowString(uint8_t x,uint8_t y,uint8_t *chr,uint8_t Char_Size){ unsigned char j=0; while (chr[j]!='/0') { OLED_ShowChar(x,y,chr[j],Char_Size); x+=8; if(x>120){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 off OLED_WR_Byte(0x02,OLED_CMD);//---set low column address OLED_WR_Byte(0x10,OLED_CMD);//---set high column address OLED_WR_Byte(0x40,OLED_CMD);//--set start line address OLED_WR_Byte(0xB0,OLED_CMD);//--set page address OLED_WR_Byte(0x81,OLED_CMD); // contract control OLED_WR_Byte(0xFF,OLED_CMD);//--128 OLED_WR_Byte(0xA1,OLED_CMD);//set segment remap OLED_WR_Byte(0xA6,OLED_CMD);//--normal / reverse OLED_WR_Byte(0xA8,OLED_CMD);//--set multiplex ratio(1 to 64) OLED_WR_Byte(0x3F,OLED_CMD);//--1/64 duty OLED_WR_Byte(0xAD,OLED_CMD);//set charge pump enable OLED_WR_Byte(0x8B,OLED_CMD);//-0x8B �ڹ� VCC OLED_WR_Byte(0x33,OLED_CMD);//-0X30---0X33 set VPP 9V OLED_WR_Byte(0xC8,OLED_CMD);//Com scan direction OLED_WR_Byte(0xD3,OLED_CMD);//-set display offset OLED_WR_Byte(0x00,OLED_CMD);// OLED_WR_Byte(0xD5,OLED_CMD);//set osc division OLED_WR_Byte(0x80,OLED_CMD);// OLED_WR_Byte(0xD8,OLED_CMD);//set area color mode off OLED_WR_Byte(0x05,OLED_CMD);// OLED_WR_Byte(0xD9,OLED_CMD);//Set Pre-Charge Period OLED_WR_Byte(0x1F,OLED_CMD);// OLED_WR_Byte(0xDA,OLED_CMD);//set com pin configuartion OLED_WR_Byte(0x12,OLED_CMD);// OLED_WR_Byte(0xDB,OLED_CMD);//set Vcomh OLED_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 XLevelL 0x00#define XLevelH 0x10#define Max_Column 128#define Max_Row 64#define Brightness 0xFF #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, 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#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, 0x14, 0x14, 0x14, 0x14, 0x14,// =0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// >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,//< 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};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：
接线图：
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>-<
