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This DIY project requires a certain development foundation, such as: basic circuits, C language, STM32 development, STM32CubeIDE or STM32CubeMX and Keil use (important), as well as a little bit of artistic talent and a little patience. Main hardware of the project Main control: STM32F103C8T6 pink immersed gold board; Servo: SG90*4; Screen: 1.3-inch OLED (IIC driver); Power supply: lithium battery (3.7V 30mm*40mm 800mAh) + lithium battery charging and discharging module (will not automatically power off, suitable for 3.7V lithium batteries, charging and discharging through the same port); Bluetooth: Bluetooth low energy (BLE, serial port transparent transmission, cheap and easy to use). Related software development Mobile APP development: Made using App Inventor, if you need the APP, you can send a private message through Bilibili; Microcontroller development: The project uses the STM32CubeIDE development platform, which is equivalent to STM32CubeMX+Keil. Main function implementation For project wiring, please refer to the wiring diagram below. There are many power lines, but there is only one 5V pin on the microcontroller. You can make a hub or cut multiple DuPont lines in the middle, twist them in parallel, and then lead one out to connect to the 5V pin. The same goes for 3.3V and GND; The space for the bottom supply plug line is small, so pay attention to planning. Note: The charge and discharge module must be welded to the lithium battery module. If the charge and discharge module has its own current protection, the protective plate of the lithium battery needs to be removed to ensure the power supply current. Be careful to prevent short circuit during welding process. The Type-C interface on the board directly supplies power to the 5V pin, and the charging and discharging module is the same port for charging and discharging, so when charging, you can directly plug into the Type-C interface on the board. Gait/expression control The project code is actually very simple. It mainly uses the timer PWM wave output to realize quadruped movement gait, serial port information interaction for action control, expression switching, and OLED output display. For project-related code and software settings, please see the open source link at the end of the article.

Project open source code https://blog.csdn.net/Huooer/article/details/134611701

Demo video P2 https://www.bilibili.com/video/BV1Lz4y1c7QY?t=11.1&p=2

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