Skill combing [email protected] voice module +stm32+nfc

Car nfc The module detects that different cards broadcast different sounds , Similar to the previous design , It is to achieve an effect similar to the one in which the bus swipes its card to broadcast the battle

1、 Project brief introduction

2、 Implementation logic

# See introduction

3、 Application scenarios

# Broadcast at the bus stop

4、 Sort out the core code

// Global variable definition 
unsigned int speed_count=0;// Duty cycle counter  50 Next cycle 
char front_left_speed_duty=SPEED_DUTY;
char front_right_speed_duty=SPEED_DUTY;
char behind_left_speed_duty=SPEED_DUTY;
char behind_right_speed_duty=SPEED_DUTY;

unsigned char tick_5ms = 0;//5ms Counter , The fundamental period of the principal function 
unsigned char tick_1ms = 0;//1ms Counter , As the basic counter of the motor 
unsigned char tick_200ms = 0;// Refresh the display 

char ctrl_comm = COMM_STOP;// Control command 
char ctrl_comm_last = COMM_STOP;// Last instruction 
unsigned char continue_time=0;
unsigned char bt_rec_flag=0;// Bluetooth control flag bit 

char id_sound = 0;


int main(void)
{
    
	delay_init();
	GPIOCLKInit();
	UserLEDInit();
  LCD1602Init();
	//IRCtrolInit();
	TIM2_Init();
	MotorInit();
	ServoInit();
	MeasureInit();
	RedRayInit();
	//USART3Conf(9600);
	USART2Conf(9600);

 while(1)
 {
    	 
	 	if(tick_5ms >= 5)
		{
    
			tick_5ms = 0;
			tick_200ms++;
			if(tick_200ms >= 40)
			{
    
				tick_200ms = 0;
				LEDToggle(LED_PIN);
				LCD1602WriteSpeed(front_left_speed,front_right_speed);
			}
// continue_time--;//200ms  Stop without receiving instructions 
// if(continue_time == 0)
// {
    
// continue_time = 1;
// CarStop();
// }
			//do something
		
		   MeasureSpeed();
       LCD1602WriteCommand(ctrl_comm);
			 VoidRun();
		}
		
/// Voice control related 
		if(id_sound != 0)
		{
    
			
			CarStop();
			
			if(id_sound == 1)
			{
    
				IO1_RESET;
				Delayms(2000);
			}
			else if(id_sound == 2)
			{
    
				IO2_RESET;
				Delayms(2000);
			}
			else if(id_sound == 3)
			{
    
				IO3_RESET;
				Delayms(2000);
			}
			
			Delayms(5000);
			
			IO1_SET;
			IO2_SET;
			IO3_SET;
			id_sound = 0;
		}
		
 }
}

void CarMove(void)
{
       
	
	 BEHIND_RIGHT_EN;
	
 // Left front wheel 
	/* if(front_left_speed_duty > 0)// forward  { if(speed_count < front_left_speed_duty) { FRONT_LEFT_GO; } else { FRONT_LEFT_STOP; } } else if(front_left_speed_duty < 0)// backward  { if(speed_count < (-1)*front_left_speed_duty) { FRONT_LEFT_BACK; } else { FRONT_LEFT_STOP; } } else // stop it  { FRONT_LEFT_STOP; } */
		// Right front wheel 

	if(front_right_speed_duty > 0)// forward 
	{
    
		if(speed_count < front_right_speed_duty)
		{
    
			FRONT_RIGHT_GO;
		}else                // stop it 
		{
    
			FRONT_RIGHT_STOP;
		}
	}
	else if(front_right_speed_duty < 0)// backward 
	{
    
		if(speed_count < (-1)*front_right_speed_duty)
		{
    
			FRONT_RIGHT_BACK;
		}
		else                // stop it 
		{
    
			FRONT_RIGHT_STOP;
		}
	}
	else                // stop it 
	{
    
		FRONT_RIGHT_STOP;
	}
	
	// Left rear wheel 
	if(behind_left_speed_duty > 0)// forward 
	{
    
		if(speed_count < behind_left_speed_duty)
		{
    
			BEHIND_LEFT_GO;
		}	
		else                // stop it 
		{
    
			BEHIND_LEFT_STOP;
		}
	}
	else if(behind_left_speed_duty < 0)// backward 
	{
    
		if(speed_count < (-1)*behind_left_speed_duty)
		{
    
			BEHIND_LEFT_BACK;
		}
		else                // stop it 
		{
    
			BEHIND_LEFT_STOP;
		}
	}
	else                // stop it 
	{
    
		BEHIND_LEFT_STOP;
	}
	
		// Right rear wheel 
	/* if(behind_right_speed_duty > 0)// forward  { if(speed_count < behind_right_speed_duty) { BEHIND_RIGHT_GO; } else // stop it  { BEHIND_RIGHT_STOP; } } else if(behind_right_speed_duty < 0)// backward  { if(speed_count < (-1)*behind_right_speed_duty) { BEHIND_RIGHT_BACK; } else // stop it  { BEHIND_RIGHT_STOP; } } else // stop it  { BEHIND_RIGHT_STOP; } */
}


// forward 
void CarGo(void)
{
    
	//front_left_speed_duty=SPEED_DUTY+30;
	behind_left_speed_duty=SPEED_DUTY-10;
	front_right_speed_duty=SPEED_DUTY-10;
	//behind_right_speed_duty=SPEED_DUTY;
}

// back off 
void CarBack(void)
{
    
	//front_left_speed_duty=-SPEED_DUTY;
	front_right_speed_duty=-SPEED_DUTY;
	behind_left_speed_duty=-SPEED_DUTY;
	//behind_right_speed_duty=-SPEED_DUTY;
}

// towards the left 
void CarLeft(void)
{
    
	//front_left_speed_duty=-10;
	front_right_speed_duty=SPEED_DUTY+10;
  behind_left_speed_duty=-30;
	// behind_right_speed_duty=SPEED_DUTY+60;// Increase rear wheel drive 
}

// towards the right 
void CarRight(void)
{
    
	// front_left_speed_duty=SPEED_DUTY;
	  front_right_speed_duty=-20;
	behind_left_speed_duty=SPEED_DUTY+5;// Increase rear wheel drive 
	 // behind_right_speed_duty=SPEED_DUTY;
}

// stop it 
void CarStop(void)
{
    
	//front_left_speed_duty=0;
	front_right_speed_duty=0;
	behind_left_speed_duty=0;
	// behind_right_speed_duty=0;
}

void MotorInit(void)
{
    
	MotorGPIO_Configuration();
	CarStop();
}
     Trace , The trolley movement is controlled by judging the states of the three photoelectric pairs 
void SearchRun(void)
{
    
	// All three channels have detected 
	if(SEARCH_L_IO == BLACK_AREA && SEARCH_M_IO == BLACK_AREA && SEARCH_R_IO == BLACK_AREA )  // Three way black line stops 
	{
    
		CarStop();//ctrl_comm = COMM_UP; // Forward 
		//return;
	}
	else if(SEARCH_L_IO == WHITE_AREA && SEARCH_M_IO ==BLACK_AREA && SEARCH_R_IO ==BLACK_AREA)// Right 
	{
    
		CarRight();//ctrl_comm = COMM_RIGHT;
	}
	else if(SEARCH_L_GPIO ==WHITE_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==BLACK_AREA)
	{
    
	    CarRight();
	}
	else if(SEARCH_L_IO == BLACK_AREA && SEARCH_M_IO ==BLACK_AREA && SEARCH_R_IO ==WHITE_AREA)// Left 
	{
    
		CarLeft();//ctrl_comm = COMM_LEFT;
	}
	else if(SEARCH_L_IO ==BLACK_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==WHITE_AREA)
	{
    
    CarLeft();
	}
	else if( SEARCH_L_IO == WHITE_AREA && SEARCH_M_IO == BLACK_AREA && SEARCH_R_IO ==WHITE_AREA)// in 
	{
    
		CarGo();//ctrl_comm = COMM_UP;
	}
	else if(SEARCH_L_IO ==BLACK_AREA && SEARCH_M_IO==WHITE_AREA && SEARCH_R_IO==BLACK_AREA)
	{
    
	    CarGo();
	}
	else if(SEARCH_L_IO ==WHITE_AREA && SEARCH_M_IO ==WHITE_AREA && SEARCH_R_IO ==WHITE_AREA)
	{
    
	   CarGo();
	}
	
}

5、 Some references

# With JQ8900-16P Voice module
#nfc Modules are also readily available , It is detected that the card passes through the serial port to mcu Send card number

6、 matters needing attention

# The card number has been written in the car program in advance

Full operational project address