摘要：支持手机遥控支持表情、每日天气、时间显示电路大部分使用插件封装，成本低廉且易于新手焊接，适用于教学本项目不含电池，成本大致为30元，主要费用在于舵机12元，屏幕4.5元，主控4元支持功能拓展，代码已完全开源，可以根据现有代码逻辑框架，添加更多好玩有趣的功能

花30元，DIY了一只超可爱的机器狗！

目前，项目已全开源！

它有哪些功能(第1章)？软硬件怎么设计(2-3章)？如何校准舵机(4章)？开源资料入口(6章)？下文咱们一一了解~

支持手机遥控支持表情、每日天气、时间显示电路大部分使用插件封装，成本低廉且易于新手焊接，适用于教学本项目不含电池，成本大致为30元，主要费用在于舵机12元，屏幕4.5元，主控4元支持功能拓展，代码已完全开源，可以根据现有代码逻辑框架，添加更多好玩有趣的功能

当然你也可以完全重构，使用更好性能的主控

在软件上可以添加语音交互，大模型对话等等

在硬件上也可以添加避障，测温，搭载炮台等等

电路由以下部分组成——电源部分、ESP8266主控、外部接口。

EDA-Robot插件版原理图

EDA-Robot插件版PCB图

①硬件参数

主控：ESP8266，内置WIFI功能，通过AP模式遥控OLED显示屏：0.96寸，可显示表情、时钟、天气等信息LDO线性稳压器：AMS1117 ，负责将8.4V和5V电压分别转换成5V和3.3V，为舵机及主控提供电源舵机：SG-90/MG90，支持180度/360度版本，本文以360度版本为主供电：14500双节电池组，通过LDO降压稳压器供电OLED显示屏支持SSD1315,SSD1306驱动，该模块自带屏幕驱动电路，仅需接口接入即可。电路设计软件：嘉立创EDA

②原理解析

（1）ADC电量检测电路

修改分压器适配 8.4V 到 1V

现在需要适配新的输入电压范围（最大 8.4V）到 ESP8266 的 1.0V ADC 输入。

分压比计算如下：

分压比=1V8.4V=18.4≈0.119分压比=8.4V1V=8.41≈0.119

根据分压公式：

R2R1+R2=0.119R1+R2R2=0.119

假设保持100k ，计算：

100kR1+100k=0.119R1+100k100k=0.119

R1+100k=100k0.119≈840kR1+100k=0.119100k≈840k

R1≈740kΩR1≈740kΩ

对于，输出电压：

Vout=8.4×100k740k+100k=8.4×100840≈1.0VVout=8.4×740k+100k100k=8.4×840100≈1.0V

对于电压较低时（如 4.2V），输出电压为：

Vout=4.2×100k740k+100k=4.2×100840≈0.5VVout=4.2×740k+100k100k=4.2×840100≈0.5V

分压电路成功将8.4V的输入电压，压缩到0-1V范围内

（2）外部接口电路

串口：为方便下载，单独引出了IO0及GND接口作为跳帽插入接口，当插入跳帽时，IO0被拉低，进入下载模式。反之被主控部分电路拉高，进入工作模式。

电池：引出了外部充电拓展接口，VIN与VBAT是开关接口，VIN与GND接口是外部充电模块接口。充电模块选择满电电压大概在8.4V的2串锂电池充电模块。

按键：使用IO2和IO15引脚，IO2按键按下时拉低，空闲时被拉高。但由于IO15必须接下拉电阻，所以这里开关逻辑与IO2相反，按键按下时拉高，空闲时被拉低。

完整的项目源码已放在附件

本章节只介绍部分比较重要的关键代码。

开源网址：https://oshwhub.com/course-examples/bot-dog 开发文档：https://wiki.lceda.cn/zh-hans/course-projects/smart-internet/eda-robot/eda-robot-introduce.html

如何通过手机【控制】机器狗？

为了控制机器狗，我写了一个网页，你可以直接使用，也可以参考下方了逻辑，自己写一个，并在此基础上进行拓展。

①控制页面CSS样式表

body {margin: 0;padding: 0;font-family: Arial, sans-serif;}.container {max-width: 800px;margin: 0 auto;padding: 20px;text-align: center;}h1 {text-align: center;}button {display: inline-block;height: auto;width: auto;margin-top: 20px;padding: 10px 20px;background-color: deepskyblue;color: #fff;border: none;border-radius: 20px; /* 添加圆角 */text-decoration: none;line-height: 2; /* 通过调整line-height的值来调整文字的垂直位置 */text-align: center; /* 文字居中 */box-shadow: 2px 2px 5px rgba(0, 0, 0, 0.2); /* 添加立体感 */transition: all 0.3s ease; /* 添加过渡效果 */}button:hover {background-color: skyblue; /* 鼠标悬停时的背景颜色 */transform: translateY(2px); /* 点击效果 */box-shadow: 2px 2px 8px rgba(0, 0, 0, 0.3); /* 添加更多立体感 */}.button-grid3 {display: grid;grid-template-columns: repeat(3, 1fr);gap: 10px;justify-content: center;align-content: center;text-align: center;margin: 20px;}.button-grid2 {display: grid;grid-template-columns: repeat(2, 1fr);gap: 10px;justify-content: center;align-content: center;text-align: center;margin: 20px;} .button-grid1 {display: grid;border-radius: 20px; /* 添加圆角 */grid-template-columns: repeat(1, 1fr);justify-content: center;align-content: center;text-align: center;margin: 10px;}

②控制页面JavaScript代码

// 简化 AJAX 请求函数function sendCommand(action) {fetch(`/${action}`).then(response => response.text).catch( => alert('发送失败，请检查设备连接'));} function refreshState(url, displayElementId) {fetch(url).then(response => response.text).then(data => { document.getElementById(displayElementId).innerText = data;});}function setRefreshInterval(url, displayElementId) {setInterval( => refreshState(url, displayElementId), 1000);}const states = [{ url: '/batteryVoltage', displayId: 'batteryVoltageDisplay' },{ url: '/batteryPercentage', displayId: 'batteryPercentageDisplay' },{ url: '/engine1offsetleftpwm', displayId: 'engine1offsetleftpwmDisplay' },{ url: '/engine1offsetrightpwm', displayId: 'engine1offsetrightpwmDisplay' },{ url: '/engine2offsetleftpwm', displayId: 'engine2offsetleftpwmDisplay' },{ url: '/engine2offsetrightpwm', displayId: 'engine2offsetrightpwmDisplay' },{ url: '/engine3offsetleftpwm', displayId: 'engine3offsetleftpwmDisplay' },{ url: '/engine3offsetrightpwm', displayId: 'engine3offsetrightpwmDisplay' },{ url: '/engine4offsetleftpwm', displayId: 'engine4offsetleftpwmDisplay' },{ url: '/engine4offsetrightpwm', displayId: 'engine4offsetrightpwmDisplay' }];states.forEach(state => setRefreshInterval(state.url, state.displayId));

③控制页面html代码

EDA-Robot遥控台

本项目基于ESP8266主控开发

电压：0

电量：0

运动控制

↑←→↓抬左手抬右手坐下趴下自由模式开自由模式关

表情控制

开心生气难受好奇喜欢错误晕

联网功能

时间天气

控制页面的代码是存放在FS文件系统中的，这里主要看AJAX请求函数，这部分的请求与下一小节的页面路由监听代码相对应，我们通过点击页面按钮触发请求。

这里进行了一些简化操作，避免html过长过大导致html加载和响应缓慢，这可能导致esp8266无法正确显示页面。

如何让机器狗【运行起来】？给它注入点赛博灵魂~~

④页面路由监听

void handleWiFiConfig{// 启动服务器server.on("/left90", HTTP_GET, (AsyncWebServerrequest *request){actionstate = 10; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/right90", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 11; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/front", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 1; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/back", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 4; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/left", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 2; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/right", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 3; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/toplefthand", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 5; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/toprighthand", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 6; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/sitdown", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 8; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/lie", HTTP_GET, (AsyncWebServerRequest *request){actionstate = 7; request->send(200, "text/plain", "Front function started"); });// server.on("/dance", HTTP_GET, (AsyncWebServerRequest *request)// {// actionstate = 7; // 设置标志，执行舵机动作// request->send(200, "text/plain", "Front function started"); });server.on("/free", HTTP_GET, (AsyncWebServerRequest *request){freestate=true;request->send(200, "text/plain", "Front function started"); });server.on("/offfree", HTTP_GET, (AsyncWebServerRequest *request){freestate=false;request->send(200, "text/plain", "Front function started"); });server.on("/histate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 0; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/angrystate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 1; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/errorstate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 2; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine1offsetleftpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine1offsetleftpwm)); });server.on("/engine2offsetleftpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine2offsetleftpwm)); });server.on("/engine3offsetleftpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine3offsetleftpwm)); });server.on("/engine4offsetleftpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine4offsetleftpwm)); });server.on("/engine1offsetrightpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine1offsetrightpwm)); });server.on("/engine2offsetrightpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine2offsetrightpwm)); });server.on("/engine3offsetrightpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine3offsetrightpwm)); });server.on("/engine4offsetrightpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine4offsetrightpwm)); });server.on("/engine4offsetrightpwm", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(engine4offsetrightpwm)); });server.on("/batteryVoltage", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(batteryVoltage)); }); server.on("/batteryPercentage", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(batteryPercentage)); }); server.on("/speed", HTTP_GET, (AsyncWebServerRequest *request){ request->send(200, "text/plain", String(speed)); });server.on("/speedup", HTTP_GET, (AsyncWebServerRequest *request){speed++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/speeddown", HTTP_GET, (AsyncWebServerRequest *request){speed--;request->send(200, "text/plain", "Front function started"); });server.on("/engine1offsetrightpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine1offsetrightpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine1offsetrightpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine1offsetrightpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine1offsetleftpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine1offsetleftpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine1offsetleftpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine1offsetleftpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine2offsetrightpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine2offsetrightpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine2offsetrightpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine2offsetrightpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine2offsetleftpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine2offsetleftpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine2offsetleftpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine2offsetleftpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine3offsetrightpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine3offsetrightpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine3offsetrightpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine3offsetrightpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine3offsetleftpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine3offsetleftpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine3offsetleftpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine3offsetleftpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine4offsetrightpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine4offsetrightpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine4offsetrightpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine4offsetrightpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/engine4offsetleftpwmup", HTTP_GET, (AsyncWebServerRequest *request){engine4offsetleftpwm++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/engine4offsetleftpwmdown", HTTP_GET, (AsyncWebServerRequest *request){engine4offsetleftpwm--;request->send(200, "text/plain", "Front function started"); });server.on("/speedup", HTTP_GET, (AsyncWebServerRequest *request){speed++; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/speeddown", HTTP_GET, (AsyncWebServerRequest *request){speed--;request->send(200, "text/plain", "Front function started"); });server.on("/dowhatstate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 3; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/lovestate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 4; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/sickstate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 5; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/yunstate", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 6; request->send(200, "text/plain", "Front function started"); });server.on("/time", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 8; request->send(200, "text/plain", "Front function started"); });server.on("/weather", HTTP_GET, (AsyncWebServerRequest *request){emojiState = 7; // 设置标志，执行舵机动作request->send(200, "text/plain", "Front function started"); });server.on("/connect", HTTP_POST, (AsyncWebServerRequest *request){// 获取POST参数：ssid、pass、uid、city、apiString ssid = request->getParam("ssid", true)->value;String pass = request->getParam("pass", true)->value;String uid = request->getParam("uid", true)->value;String city = request->getParam("city", true)->value;String api = request->getParam("api", true)->value;// 打印接收到的参数Serial.println(ssid);Serial.println(pass);// 保存WiFi信息到JSON文件DynamicJsonDocument doc(1024);doc["ssid"] = ssid;doc["pass"] = pass;doc["uid"] = uid;doc["city"] = city;doc["api"] = api;fs::File file = SPIFFS.open(ssidFile, "w"); // 打开文件进行写入if (file) {serializeJson(doc, file); // 将JSON内容写入文件file.close; // 关闭文件}// 更新全局变量useruid = uid;cityname = city;weatherapi = api;// 开始连接WiFiWiFi.begin(ssid.c_str, pass.c_str);// 发送HTML响应，告知用户正在连接request->send(200, "text/html", "

Connecting...

"); });server.on("/", HTTP_GET, (AsyncWebServerRequest *request){// 检查SPIFFS文件系统中是否存在index.html文件if (SPIFFS.exists("/index.html")) {fs::File file = SPIFFS.open("/index.html", "r"); // 打开index.html文件if (file) {size_t fileSize = file.size; // 获取文件大小String fileContent;// 逐字节读取文件内容while (file.available) {fileContent += (char)file.read;}file.close; // 关闭文件// 返回HTML内容request->send(200, "text/html", fileContent);return;}}// 如果文件不存在，返回404错误request->send(404, "text/plain", "File Not Found"); });server.on("/control.html", HTTP_GET, (AsyncWebServerRequest *request){// 检查SPIFFS文件系统中是否存在index.html文件if (SPIFFS.exists("/control.html")) {fs::File file = SPIFFS.open("/control.html", "r"); // 打开index.html文件if (file) {size_t fileSize = file.size; // 获取文件大小String fileContent;// 逐字节读取文件内容while (file.available) {fileContent += (char)file.read;}file.close; // 关闭文件// 返回HTML内容request->send(200, "text/html", fileContent);return;}}// 如果文件不存在，返回404错误request->send(404, "text/plain", "File Not Found"); });server.on("/engine.html", HTTP_GET, (AsyncWebServerRequest *request){// 检查SPIFFS文件系统中是否存在index.html文件if (SPIFFS.exists("/engine.html")) {fs::File file = SPIFFS.open("/engine.html", "r"); // 打开index.html文件if (file) {size_t fileSize = file.size; // 获取文件大小String fileContent;// 逐字节读取文件内容while (file.available) {fileContent += (char)file.read;}file.close; // 关闭文件// 返回HTML内容request->send(200, "text/html", fileContent);return;}}// 如果文件不存在，返回404错误request->send(404, "text/plain", "File Not Found"); });server.on("/setting.html", HTTP_GET, (AsyncWebServerRequest *request){// 检查SPIFFS文件系统中是否存在index.html文件if (SPIFFS.exists("/setting.html")) {fs::File file = SPIFFS.open("/setting.html", "r"); // 打开index.html文件if (file) {size_t fileSize = file.size; // 获取文件大小String fileContent;// 逐字节读取文件内容while (file.available) {fileContent += (char)file.read;}file.close; // 关闭文件// 返回HTML内容request->send(200, "text/html", fileContent);return;}}// 如果文件不存在，返回404错误request->send(404, "text/plain", "File Not Found"); });// 启动服务器server.begin;};

这部分的代码较长，是所有WebServer的页面路由监听，与页面中按钮触发的url对应，这里的url务必检查仔细，如果不能对应就无法监听到页面请求是否触发，硬件也无法做出对应的响应。

另外，在/connect下还添加了写入信息到FS文件系统中的功能，只要每次开机执行读取就不需要重复配置网络信息了。

⑤读取FS系统保存的json文件

void loadWiFiConfig{if (SPIFFS.begin){fs::File file = SPIFFS.open(ssidFile, "r");if (file){DynamicJsonDocument doc(1024);DeserializationError error = deserializeJson(doc, file);if (!error){String ssid = doc["ssid"];String pass = doc["pass"];String uid = doc["uid"];String city = doc["city"];String api = doc["api"];useruid = uid;cityname = city;weatherapi = api;WiFi.begin(ssid.c_str, pass.c_str);// 尝试连接WiFi，最多等待10秒unsigned long startAttemptTime = millis;while (WiFi.status != WL_CONNECTED && millis - startAttemptTime

前面我们讲了在/connect路由监听下，添加了将信息保存的FS文件系统，那么，这里的loadWiFiConfig方法就是读取FS文件系统的Json文件，并将数据同步到全局变量之中，这样就不需要每次开机进入配置页面配网了，程序会自动加载上次配网保存的信息，极为方便。

⑥运动状态

switch (actionstate){case 0 /* constant-expression */:/* code */break;case 1:front; // 执行一次舵机动作actionstate = 0;break;case 2:left; // 执行一次舵机动作actionstate = 0;break;case 3:right; // 执行一次舵机动作actionstate = 0;break;case 4:back; // 执行一次舵机动作actionstate = 0;break;case 5:toplefthand; // 执行一次舵机动作actionstate = 0;break;case 6:toprighthand; // 执行一次舵机动作actionstate = 0;break;case 10:left90; // 执行一次舵机动作actionstate = 0;break;case 11:right90; // 执行一次舵机动作actionstate = 0;break;case 7:lie; // 执行一次舵机动作actionstate = 0;break;case 8:sitdown; // 执行一次舵机动作actionstate = 0;break;case 9:emojiState = random(0, 7); // 执行一次舵机动作actionstate = 0;break;default:break;}

运动状态代码与前面的路由监听对应，之所以没有把动作函数直接写入路由监听的代码，这是因为会导致页面响应过久，导致页面无法加载或者触发程序死机然后重启。

为了避免这个情况发生，我们通过actionstate变量定义运动状态，然后再loop函数中判断。

这里选择的是switch，而并没有使用if-else，理论上对应顺序较长的数据switch性能略好，看个人喜欢，其实都可以用。

⑦前进运动

void front{//+30C 2/3servo2.writeMicroseconds(1500 + speed + engine2offsetleftpwm);servo3.writeMicroseconds(1500 - speed - engine3offsetleftpwm);delay(500-runtime);servo2.writeMicroseconds(1500);servo3.writeMicroseconds(1500);//-30C 1/4servo1.writeMicroseconds(1500 - speed - engine1offsetrightpwm);servo4.writeMicroseconds(1500 + speed + engine4offsetrightpwm);delay(500-runtime);servo1.writeMicroseconds(1500);servo4.writeMicroseconds(1500);// 0C 2/3servo2.writeMicroseconds(1500 - speed - engine2offsetrightpwm);servo3.writeMicroseconds(1500 + speed + engine3offsetrightpwm);delay(500-runtime);servo2.writeMicroseconds(1500);servo3.writeMicroseconds(1500);// 0C 1/4servo1.writeMicroseconds(1500 + speed + engine1offsetleftpwm);servo4.writeMicroseconds(1500 - speed - engine4offsetleftpwm);delay(500-runtime);servo1.writeMicroseconds(1500);servo4.writeMicroseconds(1500);//+30C 1/4servo1.writeMicroseconds(1500 + speed + engine1offsetleftpwm);servo4.writeMicroseconds(1500 - speed - engine4offsetleftpwm);delay(500-runtime);servo1.writeMicroseconds(1500);servo4.writeMicroseconds(1500);//-30C 2/3servo2.writeMicroseconds(1500 - speed - engine2offsetrightpwm);servo3.writeMicroseconds(1500 + speed + engine3offsetrightpwm);delay(500-runtime);servo2.writeMicroseconds(1500);servo3.writeMicroseconds(1500);// 0C 1/4servo1.writeMicroseconds(1500 - speed - engine1offsetrightpwm);servo4.writeMicroseconds(1500 + speed + engine4offsetrightpwm);delay(500-runtime);servo1.writeMicroseconds(1500);servo4.writeMicroseconds(1500);// 0C 2/3servo2.writeMicroseconds(1500 + speed + engine2offsetleftpwm);servo3.writeMicroseconds(1500 - speed - engine3offsetleftpwm);delay(500-runtime);servo2.writeMicroseconds(1500);servo3.writeMicroseconds(1500);}

⑧ADC电量检测

// 对 ADC 数据多次采样并计算平均值float getAverageAdcVoltage {long totalAdcValue = 0;// 多次采样for (int i = 0; i = maxVoltage) return 100; // 大于等于最大电压时，电量为 100%// 根据线性比例计算电量百分比return (int)((voltage - minVoltage) / (maxVoltage - minVoltage) * 100);}

与小车不同，机器狗不能像小车那样简单控制电机正反转，实现前进后退，这里需要观察四足动物，进行一些仿生模拟，用舵机模拟四足动物前进时的四足变化情况。下一章，我们就讲这个！

如何让机器狗麻溜滴【走起来】且不顺拐？

机器小狗使用360度舵机，其拓展性高，但不像180度舵机那样，可以直接控制旋转角度，所有我们需要进行舵机校准，确保舵机转速，角度均合适。

说明：刷入程序的舵机校准数据并不是通用的，这要根据自己的舵机情况进行调整。