制作arduino机器人

冷不防 2022-02-14 09:29 249阅读 0赞

## 硬件 ##

arduino主控板  
舵机 \*6  
蜂鸣器  
RGB三色LED模块  
2位全彩RGB  
温度传感器  
光线传感器  
按键 \*4  
红外接收模块  
红外遥控器  
电机 \*2

## 环境 ##

arduino IDE

## 构思 ##

1.  红外遥控功能  
    —— 1 小夜灯  
    —— 2 闹钟  
    —— 3 照明检测  
    —— 4 温度检测  
    —— 5 遥控编舞
2.  头部按键功能  
    —— 1 眼睛切换  
    —— 2 扭腰动作  
    —— 3 伸展运动  
    —— 4 1分钟beat it舞蹈

> 一、陪伴小夜灯  
> 首先选择小夜灯模式，遥控器按下1，接下来我们通过←键或→键是切换机器人胸口的全彩RGB灯光，↑键或↓键是调节灯光亮度，按下0键后退出当前模式，回到五个功能的菜单选择。
> 
> 二、定时闹钟  
> 遥控器按下2键，进入定时闹钟模式，先按下★键，接着按下数字键（09）来选择需要定时多少小时，确定时钟时间后，按下OK键确认，接着通过按下\#键后，选择数字键（09）设置定时的分钟，确定分钟的时间后，按下OK键确认，时钟和分钟均确认后，再次按下OK键确认后，机器人开始计时。如果只需要计时分钟，只需设置分钟部分便可，退出当前模式则按下0键，回到五个功能的菜单选择。
> 
> 三、室温检测  
> 遥控器按下3键，机器人进入室温检测模式，当温度大于25℃，小于30℃为正常状态，胸口指示灯光为紫色，当温度大于30℃为闷热状态，胸口指示灯光为红色，当温度小于25℃为凉爽状态，胸口指示灯光为蓝色。退出当前模式则按下0键，回到五个功能的菜单选择。
> 
> 四、照明检测  
> 遥控器按下4键，机器人进入照明检测模式，当光线较亮是，机器人眼睛为红色，当光线适度时，机器人眼睛为红绿色，当光线较弱时，机器人眼睛为绿色。退出当前模式则按下0键，回到五个功能的菜单选择。
> 
> 五、遥控编舞  
> 遥控器按下5键，机器人进入遥控编舞模式，每次选择动作前，需先按下★键，接着通过数字键（16）选择动作，动作选择完成后，通过数字键（19）选择执行次数时，需先按下\#键，当动作与执行次数均确定后，按下OK键确认，机器人开始表演舞蹈。退出当前模式则按下0键，回到五个功能的菜单选择。
> 
> 注意：  
> 1.机器人收到遥控信号时，眼睛将会红光闪烁，如按下后眼睛未闪烁，请重新遥控控制。  
> 2.0键均为退出当前模式

程序![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L20wXzM3NzM4ODM4_size_16_color_FFFFFF_t_70]

## 电路 ##

<table> 
 <thead> 
  <tr> 
   <th>传感器</th> 
   <th>机器人</th> 
  </tr> 
 </thead> 
 <tbody> 
  <tr> 
   <td>18b20温度</td> 
   <td>A2</td> 
  </tr> 
  <tr> 
   <td>红外遥控接收</td> 
   <td>D2</td> 
  </tr> 
  <tr> 
   <td>光敏</td> 
   <td>A1</td> 
  </tr> 
  <tr> 
   <td>胸口RGB</td> 
   <td>D13</td> 
  </tr> 
  <tr> 
   <td>蜂鸣器</td> 
   <td>D8</td> 
  </tr> 
  <tr> 
   <td>眼睛RGB</td> 
   <td>D7、D9、D10</td> 
  </tr> 
  <tr> 
   <td>头部那件</td> 
   <td>D4、D5、D6、D7</td> 
  </tr> 
  <tr> 
   <td>电机</td> 
   <td>D3、A3、D11、D12</td> 
  </tr> 
 </tbody> 
</table>

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L20wXzM3NzM4ODM4_size_16_color_FFFFFF_t_70 1]

## 程序 ##

#include <IRremote.h>//红外
    #include <IRremoteInt.h>
    
    #include "Timer.h"        //计时器头文件
    #include <OneWire.h>
    #include <DallasTemperature.h>
    #define ONE_WIRE_BUS A2 //温度 使用A2端口
    
    Timer t;                //计时器对象
    int buzzer_pin=8;     //蜂鸣器的pin
    boolean buzzer_state=true;       //蜂鸣器状态
    boolean hours_state=false;      //小时设置
    boolean minutes_state=false;   //分钟设置
    long hours=0;   //默认0小时
    long minutes=600000; //默认十分钟
    long Ttime;    //定时总时间
    int a=1;  //count方法传入个数
    
    #include <Adafruit_NeoPixel.h>//RGB
    #define PIN 13
    #define MAX_LED 9
    //#define add_length sizeof(key_add)/sizeof(key_add[0])+1
    Adafruit_NeoPixel strip = Adafruit_NeoPixel( MAX_LED, PIN, NEO_RGB + NEO_KHZ800 );
    
    int key_add[100] ;
    int init_light=100;//初始亮度
    int init_color = 0;//初始颜色
    uint32_t color_green = strip.Color(255,0,0); 
    uint32_t color_red = strip.Color(0,255,0); 
    uint32_t color_blue = strip.Color(0,0,255); 
    uint32_t color_yellow = strip.Color(255,255,0); 
    uint32_t color_white = strip.Color(255,255,255); 
    uint32_t color[] = {color_red,color_green,color_blue,color_yellow,color_white};
    int length = sizeof(color)/sizeof(color[0])-1;//颜色数组长度
    int add_length=0;
    
    int RECV_PIN = 2;
    int GM=A1;
    int WD=A2;
    bool flag;
    bool flag_n=true;
    int gm;
    float wd;
    int key;
    int second;
    
    int label;
    int _add_;
    int next;
    bool flag_add=false;
    bool flag_next=false;
    int _ok;
    int w=0;
    IRrecv irrecv(RECV_PIN);//红外
    OneWire oneWire(ONE_WIRE_BUS);//温度
    DallasTemperature sensors(&oneWire);//温度
    decode_results results;
    
    /*****************语音动作相应********************************/
    int yu_ying[6];
    int i=0;
    int j=0;
    bool flag_sing=false;                  //唱歌类       0X02
    bool flag_awaken=false;                //唤醒语句     0X01
    bool flag_dialogue=false;              //对话类       0X03
    bool flag_common_sense =false;         //常识类       0X04    
    bool flag_English=false;               //英语类       0X05
    bool flag_arithmetic=false;            //算术类       0X06
    bool flag_weather=false;               //天气类       0X07
    bool flag_qita=false;                  //其他类       0X08
    //+++++++++++电机++++++++++++++++++++++++++++++++++
    #define forward 1
    #define backoff 2
    #define leftturn 3
    #define rightturn 4
    #define M1 3
    #define M2 11
    
    
    /****************头部按键**************************************/
    int RedPin = 9; //select the pin for the red LED
    int BluePin =7; // select the pin for the  blue LED
    int GreenPin =10;// select the pin for the green LED
    
    int stand_ang[6] = { 512,512,512,512,894,130 };//894=512+382  130=512-382
    
    float stand_ang_[6] = { 512,512,512,512,894,130 };//894=512+382  130=512-382
    int head_key=0;
    
    int zuohuishou[3][6] ={ 
    { 512,512,512,512,894,130 },//初始
    {512,512,512,512,130,130},//举起左手
    {512,512,512,512,360,130},//挥动左手
    };
    
    int niuyao_buf[2][6] = 
    {
      {347,606,794,534,449,560},
      {441,703,477,208,448,559}
    };
    
    int ceyatui_bufs[6][6] = 
    {
    {388,574,737,528,681,225},
    
    {344,620,826,528,630,300},
    {425,540,668,529,300,720},//you
    
    {468,641,484,328,713,389},
    
    {384,689,496,216,630,450},
    {485,593,484,370,300,720}
    
    };
    
    int dancefs[25][6]={
    {512,512,512,512,272,130},    //0
    {412,512,512,512,272,130},    //1
    
    {512,512,512,512,894,752},    //2
    {512,612,512,512,894,752},    //3
    
    {443,512,588,512,894,720},    //左Post4
    {394,512,588,512,894,720},    //左Post踮脚5
    
    {512,581,512,436,304,130},    //右Post6
    {512,630,512,436,304,130},    //右Post踮脚7
    
    {512,512,512,512,120,130},    //举左手8
    {512,512,512,512,894,904},    //举右手9
    
    {512,581,512,436,304,130},    //10
    {512,630,512,436,204,130},    //11
    
    {443,512,588,512,894,720},    //左Post12
    {394,512,588,512,894,820},    //13
    
    {512,512,512,512,612,612},    //举左手14
    {512,512,512,512,412,412},    //举右手15
    
    {470,485,546,546,512,512},    //举左手16
    {550,560,478,478,512,512},    //举右手17
    
    {474,550,533,491,226,780},    //18
    {512,512,512,512,800,224},    //19
    
    {512,512,512,512,612,412},    //20
    {412,612,512,512,794,230},    //21
    
    {512,512,512,512,512,512},
    
    {512,512,512,512,420,430},    //举左手
    {512,512,512,512,594,604},    //举右手
    };
    
    int dancef[11][6]={
    {512,512,512,512,512,130},    //
    {412,512,512,512,512,130},    //
    
    {512,512,512,512,894,512},    //
    {512,612,512,512,894,512},    //
    
    {512,512,512,512,312,712},    //
    {412,612,512,512,612,412},    //
    
    {390,558,635,509,512,512},    //
    {466,634,515,389,512,512},    //
    
    {512,662,526,506,894,894},    //
    {362,512,518,498,130,130},    //
    
    {512,512,800,224,312,712},    //
    };
    
    void one(){//飞翔姿势，踮脚双挥手
      eyeRGB(0,0,0);
      weifen(dancef[5],dancef[4],20,10);
      eyeRGB(255,0,0);
      weifen(dancef[4],dancef[5],20,10);
    }
    
    void two(){//左踮脚举高左手
      eyeRGB(0,0,0);
      weifen(dancefs[0],dancefs[1],20,10);
      eyeRGB(0,255,0);
      weifen(dancefs[1],dancefs[0],20,10);
    }
    
    void three(){//右踮脚举高右手
       eyeRGB(0,0,0);
       weifen(dancefs[2],dancefs[3],20,10);
       eyeRGB(0,0,255);
       weifen(dancefs[3],dancefs[2],20,10);
    }
    
    void four(){//左踮脚举平左手
       eyeRGB(0,0,0);
       weifen(dancef[0],dancef[1],20,10);
       eyeRGB(255,255,0);
       weifen(dancef[1],dancef[0],20,10);
    }
    
    void five(){//左踮脚举平右手
      eyeRGB(0,0,0);
      weifen(dancef[2],dancef[3],20,10);
      eyeRGB(255,0,255);
      weifen(dancef[3],dancef[2],20,10);
    }
    
    void six(){//举手
        eyeRGB(0,0,0);
        weifen(dancefs[8],dancefs[9],20,20);
        eyeRGB(0,255,255);
        weifen(dancefs[9],dancefs[8],20,20);
    }
    
    void seven(){//左Post踮脚
        eyeRGB(0,0,0);
        weifen(dancefs[4],dancefs[5],10,10);
        eyeRGB(60,60,60);
        weifen(dancefs[5],dancefs[4],10,10);
    }
    
    void eight(){//右Post踮脚
        eyeRGB(0,0,0);
        weifen(dancefs[6],dancefs[7],10,10);
        eyeRGB(0,255,255);
        weifen(dancefs[7],dancefs[6],10,10);
    }
    
    void nine1(){//测压腿
        weifen(ceyatui_bufs[5],ceyatui_bufs[4],10,10);
        weifen(ceyatui_bufs[4],ceyatui_bufs[5],10,10);
    }
    
    void nine2(){//测压腿
        weifen(ceyatui_bufs[2],ceyatui_bufs[1],10,10);
        weifen(ceyatui_bufs[1],ceyatui_bufs[2],10,10);
    }
    
    void ten(){//扭腰
        weifen(niuyao_buf[0],niuyao_buf[1],20,10);
        weifen(niuyao_buf[1],niuyao_buf[0],20,10);
    }
    
    void eleven(){
      weifen(dancefs[18],dancefs[19],10,30);
      weifen(dancefs[19],dancefs[18],10,30);
    }
    
    void twelve(){
      weifen(dancefs[20],dancefs[21],10,30);
      weifen(dancefs[21],dancefs[20],10,30);
    }
    
    void thirteen(){
      weifen(dancefs[24],dancefs[23],30,30);
      delay(300);
      weifen(dancefs[23],dancefs[24],30,30);
    }
    
    void lefr_wave_0(){
      _send(stand_ang_);
      delay(500);
      weifen(stand_ang,zuohuishou[1],30,40);
      for(int i=0;i<3;i++)
      { 
        weifen(zuohuishou[1],zuohuishou[2],20,20);
        weifen(zuohuishou[2],zuohuishou[1],20,20);
      }
      weifen(zuohuishou[1],stand_ang,50,20);
      delay(200);
    }
    
    void eyeRGB(int r,int g,int b){//RGB灯光
      analogWrite(RedPin, 255-r);
      analogWrite(GreenPin, 255-g);
      analogWrite(BluePin, 255-b);
    }
    
    bool headkey(int x){//头部按键
     switch(x){
        case 1:
          pinMode(6,INPUT_PULLUP);
          if(digitalRead(6)==LOW)
          return true;
          else
          return false;
          break;
        case 2:
          pinMode(4,INPUT_PULLUP);
          if(digitalRead(4)==LOW)
          return true;
          else
          return false;
          break;
        case 3:
          pinMode(5,INPUT_PULLUP);
          if(digitalRead(5)==LOW)
          return true;
          else
          return false;
          break;
        case 4:
          pinMode(A0,INPUT_PULLUP);
          if(digitalRead(A0)==LOW)
          return true;
          else
          return false;
          break;  
        default:
          return false;
      } 
      
    }
    
    
    void beat_it(){//舞蹈 1 minute
       for(int i=0;i<3;i++)
      one();
      for(int i=0;i<3;i++)
      two();
      for(int i=0;i<3;i++)
      three();
      weifen(dancefs[2],stand_ang,20,10);
      delay(500);
      for(int i=0;i<3;i++)
      four();
      for(int i=0;i<3;i++)
      five();
      weifen(dancef[2],stand_ang,20,10);
      delay(40);
      for(int i=0;i<3;i++)
      six();
      for(int i=0;i<5;i++)
      seven();
      six();
      weifen(dancefs[9],stand_ang,10,10);
      delay(500);
      for(int i=0;i<5;i++)
      eight();
      delay(500);
      for(int i=0;i<5;i++)
      nine1();
      delay(500); 
      for(int i=0;i<5;i++)
      nine2();
      delay(500);  
      for(int i=0;i<3;i++)
      ten();
      for(int i=0;i<2;i++)  //
      eleven();
      delay(500);
      for(int i=0;i<5;i++)  //
      twelve();
      delay(1000);
      thirteen();
      weifen(dancefs[24],dancefs[22],30,30);
      lefr_wave_0();
    }
    
    
    
    
    
     
    void setup()
    {
      Serial.begin(9600);
      irrecv.enableIRIn(); //初始化红外遥控
      strip.begin(); 
      pinMode(GM,INPUT);
      pinMode(buzzer_pin,OUTPUT);   //设置蜂鸣器的pin为输出模式
    //  pinMode(9,OUTPUT);
    //  pinMode(10,OUTPUT);
      sensors.begin();
      for(int i=0;i<3;i++)
      Initialize();
      //clean_eye();
      pinMode(RedPin, OUTPUT); //端口设置成输出
      pinMode(BluePin, OUTPUT);
      pinMode(GreenPin, OUTPUT);
      eyeRGB(0,0,255);//初始化灯光 蓝眼睛
      //蜂鸣器响一下
      for(int i=0;i<200;i++){
        digitalWrite(buzzer_pin,HIGH);
        delay(2);
        digitalWrite(buzzer_pin,LOW);
        delay(2);
      }
      
      pinMode(A0, INPUT_PULLUP);
      pinMode(4, INPUT_PULLUP);
      pinMode(5, INPUT_PULLUP);
      pinMode(6, INPUT_PULLUP);
      pinMode(M1,OUTPUT);
      pinMode(M2,OUTPUT);
      pinMode(A3,OUTPUT);
      pinMode(12,OUTPUT);
    }
    
    void loop() {
      t.update();         //必须在loop中调用，它会服务于计时器相关的事件
     // guangmi();
      //wendu();
      //Night_light();
       work();
       work2();
       work3();
    }
    
    void work3(){
        Serial.begin(9600);
      delay(200);
      if(Serial.available()>0){
        yu_ying[i]=Serial.read(); 
        Serial.println(yu_ying[i],HEX);
       if(yu_ying[0]==0xFF){
          i++;
        }
      } else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x02)//唱歌类
      {
         flag_sing=true;
      }
      else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x01)//唤醒语句
      {
         flag_awaken=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x03)//对话类
      {
         flag_dialogue=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x04)//常识类
      {
         flag_common_sense=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x05)//英语类
      {
         flag_English=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x06)//算术类
      {
         flag_arithmetic=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x07)//天气类
      {
         flag_weather=true;
         flag_sing=false;
      }
       else if(yu_ying[0]==0xFF&&yu_ying[1]==0xFF&&yu_ying[2]==0x02&&yu_ying[3]==0x02&&yu_ying[4]==0x08)//其他类
      {
         flag_qita=true;
         flag_sing=false;
      }else if(i>5){
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
       }else{
        i=0;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
       }
    
      if(flag_sing){
        Serial.println(222);
        delay(6000);
        eyeRGB(0,20,255);
        for(int k=0; k<1;k++){
    //      dian_jiao();
        Right_wave();
        Letf_wave(); 
        left_foot_hand();
        right_foot_hand();
        two_foot_head();
        niuyao();
        beat_it();//舞蹈
        }
        delay(1000);
        flag_sing=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
      }
    
      if(flag_qita){
        Serial.println(888);
        delay(1000);
    //    right_foot_hand();
        for(int i=0;i<2;i++){
          eyeRGB(0,255,0);
          delay(500);
          eyeRGB(0,0,0);
        }
        flag_qita=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
      }
    
     if(flag_awaken){
        Serial.println(111);
        delay(1000);
    //    Letf_wave();
        for(int i=0;i<2;i++){
            eyeRGB(255,0,255);
            delay(500);
            eyeRGB(0,0,0);
          }
        flag_awaken=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
        
      }
    
      if(flag_dialogue){
        Serial.println(333);
        delay(1000);
    //    Right_wave();
        for(int i=0;i<2;i++){
          eyeRGB(0,255,255);
          delay(500);
          eyeRGB(0,0,0);
        }
        flag_dialogue=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
      }
    
      if(flag_common_sense){
        Serial.println(444);
        delay(1000);
    //    Right_wave();
        for(int i=0;i<2;i++){
          eyeRGB(255,255,255);
          delay(500);
          eyeRGB(0,0,0);
        }
        flag_common_sense=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;;
        i=0;
      }
    
      if(flag_English){
        Serial.println(555);
        delay(1000);
    //    left_foot_hand();
      for(int i=0;i<2;i++){
          eyeRGB(255,255,0);
          delay(500);
          eyeRGB(0,0,0);
        }
        flag_English=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
      }
    
     if(flag_arithmetic){
        Serial.println(666);
        delay(1000);
        Tiptoe();
        flag_arithmetic=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;
        i=0;
      }
      
      if(flag_weather){
        Serial.println(777);
        delay(1000);
    //    Right_wave();
       for(int i=0;i<2;i++){
            eyeRGB(255,0,0);
            delay(500);
            eyeRGB(0,0,0);
          }
        flag_weather=false;
        yu_ying[0]=0x00;
        yu_ying[4]=0x00;;
        i=0;
      }
    
      if(j==0){
        Initialize();
        j++;
      }
       
    
      
      
    }
    
    
    void work2(){//头部按键工作
       if(headkey(1)){//灯光切换 RGB
         head_key+=1;
         delay(500);
      }
    
     if(headkey(2)){//扭腰动作
      _send(stand_ang_);//发送初始化动作
      delay(500);
      for(int i=0;i<3;i++)
      ten();
      delay(500);
      _send(stand_ang_);
      delay(500);
      }
     if(headkey(3)){//侧压腿动作
      _send(stand_ang_);
      delay(500);
      for(int i=0;i<5;i++)
      nine1();
      delay(500); 
      for(int i=0;i<5;i++)
      nine2();
      _send(stand_ang_);
      delay(500);
      }
      if(headkey(4)){
         beat_it();//舞蹈
      }
      if(head_key==1){
        eyeRGB(255,0,0);
      }
      if(head_key==2){
         eyeRGB(0,255,0);
      }
      if(head_key==3){
         eyeRGB(0,0,255);
      }
      if(head_key==4){
        head_key=0;
        eyeRGB(0,0,0);
      }
    }
    
    
    
    //五大功能工作
    void work(){
      if(hongwai(1)){//小夜灯
        while(!hongwai(0)){
         if(w==0){
         Rgb();
         w++;
         }
        Night_light();
        }
       clean_RGB();
        a=0;
        w=0;
      }
     
      if(hongwai(2)){//定时闹钟
         setTime();//进入闹钟模式
      }
      
      if(hongwai(3)){//温室检测
        while(!hongwai(0)){
          wendu();
          strip.setBrightness(250);
          if(wd>=30){
           strip.setPixelColor(0,0,255,0);
           strip.setPixelColor(1,0,255,0);
           strip.show();
          }else if(wd<30&&wd>25){
           strip.setPixelColor(0,0,255,255);
           strip.setPixelColor(1,0,255,255);
           strip.show();
          }else{
           strip.setPixelColor(0,0,0,255);
           strip.setPixelColor(1,0,0,255);
           strip.show();
          }
        }
        clean_RGB();
      }
    
      if(hongwai(4)){//照明检测
        while(!hongwai(0)){
          guangmi();
          if(gm>=900){
            eye_light(1);
          }else if(gm<900&&gm>500){
            eye_light(2);
          }else{
            eye_light(3);
          }
        }
        clean_eye();
      }
      
      if(hongwai(5)){//遥控编舞
         key=0;
         second=0;
         int i=0;
        while(!hongwai(0)){
          
          //动作组合逻辑
          if(_add_==16){
            flag_add=true;
          }
          if(key!=0&&flag_add){
    //        Serial.print("key1: ");
    //        Serial.println(key);
    //        delay(500);
             key_add[i]=key;
    //        Serial.print("key2: ");
    //        Serial.println(key);
    //        delay(500);
             Serial.print("key_add: ");
            Serial.println(key_add[i]);
              i++;
              flag_add=false;
              _add_=0;
               key=0;
    //        Serial.print("key3: ");
    //        Serial.println(key);
              Serial.println("88");
            }
            //发送次数，执行动作次数
            if(next==17){
               flag_next=true;
            }
            if(key!=0&&flag_next){
              second=key;
              Serial.print("---");
              Serial.print(second);
              Serial.println("---");
              flag_add=false;
               key=0;
            }
            if(second==0){
              second=1;
            }
    
          //确认发送，执行相应动作
          if(_ok==15){
            add_length=0;
            shuzu_length(key_add);
            while(second--){
              for(int q =0;q<add_length;q++){
              key=key_add[q];
              duoji_action();
              Serial.println(key_add[q],DEC);
             }
            }
            for(int j=0;j<add_length;j++){
               key_add[j]={}; 
            }
    //         Serial.print("-#-");
    //         Serial.print(second,DEC);
    //         Serial.println("-#-");
            key=0;
           _ok=0;
           i=0;
           second=0;
          } 
        }
    //    add_length=0;
    //   shuzu_length(key_add);
    //     for(int q =0;q<add_length;q++)
    //    Serial.println(key_add[q],DEC);
    //    key_add[100]={};
      }
    
      if(hongwai(6)){//照明检测
        while(!hongwai(0)){
          if(hongwai(11)){
             move_(forward,255);
          } 
          if(hongwai(12)){
            move_(backoff,255);
          }
          if(hongwai(13)){
            move_(leftturn,255);
          }
          if(hongwai(14)){
            move_(rightturn,255);;
          }
          if(hongwai(15)){
             move_(forward,0);
          }
        }
        clean_eye();
      }
    
      if(hongwai(17)){
        
      }
       
    }
    
    /**************语音动作相应***********************/
    //左挥手踮脚
    void left_foot_hand_w(){
       int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={380,512,512,512,400,124};
      int buf5_dz3[6]={490,512,512,512,600,124};
       weifen(buf5_dz1,buf5_dz2,20,10);
       for(int i=0;i<2;i++){
        weifen(buf5_dz2,buf5_dz3,20,5);
        weifen(buf5_dz3,buf5_dz2,20,5);
       }
       weifen(buf5_dz2,buf5_dz1,20,10);
    //    for(int j=0;j<2;j++){
    //      sendangle(1,400);
    //      sendangle(5,400);
    //      delay(500);
    //      sendangle(1,512);
    //      sendangle(5,600);
    //      delay(500);       
    //    }
    //    sendangle(5,900);
        delay(500);
    }
    
    //右挥手踮脚
    void right_foot_hand_w(){
      int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={490,624,512,512,900,624};
      int buf5_dz3[6]={490,512,512,512,900,400};
       weifen(buf5_dz1,buf5_dz2,20,10);
       for(int i=0;i<2;i++){
        weifen(buf5_dz2,buf5_dz3,20,5);
        weifen(buf5_dz3,buf5_dz2,20,5);
       }
       weifen(buf5_dz2,buf5_dz1,20,10);
        delay(500);
    }
    
    
    void Letf_wave(){//左挥手
      int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={490,512,512,512,900,870};
      int buf5_dz3[6]={490,512,512,512,900,729};
      weifen(buf5_dz1,buf5_dz2,20,10);
      for(int i=0;i<1;i++){
      weifen(buf5_dz2,buf5_dz3,20,5);
      weifen(buf5_dz3,buf5_dz2,20,5);
    //  weifen(buf5_dz2,buf5_dz1,20,10);
    //    sendangle(6,870);
    //    delay(500);
    //    sendangle(6,729);
    //    delay(500);
      }
       Initialize();
    }
    
    void Right_wave(){//右挥手
      int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={490,512,512,512,205,124};
      int buf5_dz3[6]={490,512,512,512,300,124};
      weifen(buf5_dz1,buf5_dz2,20,10);
      for(int i=0;i<2;i++){
      weifen(buf5_dz2,buf5_dz3,20,5);
      weifen(buf5_dz3,buf5_dz2,20,5);
    //    sendangle(5,205);
    //    delay(500);
    //    sendangle(5,300);
    //    delay(500);
      }
       Initialize();
    }
    
    void Tiptoe(){//踮脚
      int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={350,620,512,512,900,124};
         
         for(int i =0;i<1;i++){
            eyeRGB(20,255,60);
            weifen(buf5_dz1,buf5_dz2,20,10);
            eyeRGB(0,0,0);
            weifen(buf5_dz2,buf5_dz1,20,10);
          }
          delay(500); 
    //  for(int i=0;i<2;i++){
    //    sendangle(1,430);
    //    sendangle(2,572);
    //    delay(500);
    //    sendangle(1,512);
    //    sendangle(2,512);
    //    delay(500);
    //  }
       Initialize();
    }
    
    void Shaking_hands(){//摆手
      for(int i=0;i<12;i++){
        sendangle(5,450);
    //    sendangle(1,380);
    //   sendangle(2,620);
        sendangle(6,870);
        delay(1000);
        sendangle(5,200);
    //    sendangle(1,490);
    //    sendangle(2,512);  
        sendangle(6,600);
        delay(1000);
      }
       Initialize();
    }
    
    void dian_jiao(){
      int buf5_dz1[6]={490,512,512,512,900,124};
      int buf5_dz2[6]={350,620,512,512,900,124};
    
          for(int i =0;i<20;i++){
            weifen(buf5_dz1,buf5_dz2,20,10);
            weifen(buf5_dz2,buf5_dz1,20,10);
          }
          delay(500); 
    }
    
    
    
    
    /****************************************/
    
    
    
    void shuzu_length(int a[]){//计算组合动作个数
      for(int i=0;i<100;i++){
        if(a[i]!=0)
          add_length=add_length+1;
        else
          break; 
      } 
    }
    
    void eye_light(int color){//眼睛灯光
      pinMode(9,OUTPUT);
      pinMode(10,OUTPUT);
      switch(color){
        case 1://红色
          digitalWrite(9,LOW);
          digitalWrite(10,HIGH);
          break;
       case 2://红绿色
        digitalWrite(9,LOW);
        digitalWrite(10,LOW);
         break;
      case 3://绿色
         digitalWrite(10,LOW);
         digitalWrite(9,HIGH);
         break;
      default:
        clean_eye();
        break;
      }
    }
    
    void clean_eye(){//关闭眼睛
       digitalWrite(7,HIGH);
       digitalWrite(9,HIGH);
       digitalWrite(10,HIGH);
    }
    
    void clean_RGB(){//清理RGB
       strip.setPixelColor(0,0,0,0);
       strip.setPixelColor(1,0,0,0);
        strip.show();
    }
    
    void RGB_shansuo(){//闪烁提示
      //RGB闪烁提示
    //  strip.setBrightness(250);
    //  strip.setPixelColor(0,0,255,0);
    //  strip.setPixelColor(1,0,255,0);
    //  strip.show();
    //  delay(500);
    //  strip.setPixelColor(0,0,0,0);
    //   strip.setPixelColor(1,0,0,0);
    //    strip.show();
    
    //眼睛闪烁提示
       eyeRGB(255,0,0);
       delay(500);
       eyeRGB(0,0,0);
        
    }
      
    
    
    void wendu(){//室温检测
      sensors.requestTemperatures();
      wd=sensors.getTempCByIndex(0);
      Serial.println(wd);  
      delay(200);
    }
    
    
    
    void guangmi(){//照明检测
      gm=analogRead(GM);
      Serial.println(gm,DEC);
      delay(500);
    }
    
    //小夜灯
    void Night_light(){
    if (irrecv.decode(&results)) {
        Serial.println(results.value,HEX);
      switch(results.value)
      {
         //up 增加亮度
         case 0xFF18E7: RgbLight_add();RGB_shansuo();
            break;
         //down 降低亮度
          case 0xFF4AB5:RgbLight_sub();RGB_shansuo();
            break;
         //left 上个颜色
          case 0xFF10EF:color_add();RGB_shansuo();
            break;
          //right 下个颜色
          case 0xFF5AA5: color_sub();RGB_shansuo();
            break;
      }
        irrecv.resume();
      } 
    }
    
    void Rgb(){  //初始颜色亮度
    //   uint32_t test = strip.Color(0,255,255); 
       strip.setPixelColor(0, color[init_color]);
       strip.setPixelColor(1, color[init_color]);
    //   strip.setPixelColor(0, test);
    //   strip.setPixelColor(1, test);
       strip.setBrightness(init_light);
       strip.show();
    }
    void RgbLight_add(){          //增加亮度
     
     init_light = init_light+50;
     Serial.println(init_light);
      if(init_light>250){init_light=250;}
      strip.setBrightness(init_light);
       delay(100);
       strip.show();
    }
    void RgbLight_sub(){         //降低亮度
      init_light = init_light-50;
      Serial.println(init_light);
      if(init_light==0){init_light=50;}//最低亮度
      strip.setBrightness(init_light);
      delay(100);
       strip.show();
    }
    void color_add(){      //上个颜色
         init_color++;
         if(init_color>length) init_color=0;
         strip.setPixelColor(0, color[init_color]);
         strip.setPixelColor(1, color[init_color]);
         strip.show();
    }
    void color_sub(){      //下个颜色
          init_color--;
          if(init_color<0) init_color=length;
          strip.setPixelColor(0, color[init_color]);
          strip.setPixelColor(1, color[init_color]);
          strip.show();
     
    }
    
    
    //红外遥控函数
    bool hongwai(int r){
      flag=false;
      if (irrecv.decode(&results)) {
    //    Serial.println(results.value,HEX);
         switch(results.value){
            //1
          case 0xFFA25D:
          RGB_shansuo();
           Serial.println("1");
            label=1;
            key=1;
            break;
            //2
          case 0xFF629D:
          RGB_shansuo();
           Serial.println("2");
            label=2;
            key=2;
            break;
            //3
          case 0xFFE21D:
          RGB_shansuo();
           Serial.println("3");
            label=3;
            key=3;
            break;
            //4
          case 0xFF22DD:
          RGB_shansuo();
           Serial.println("4");
            label=4;
            key=4;
            break;
            //5
          case 0xFF02FD:
          RGB_shansuo();
           Serial.println("5");
            label=5;
            key=5;
            break;
            //6
          case 0xFFC23D:
          RGB_shansuo();
          Serial.println("6");
            label=6;
            key=6;
            break;
            //7
          case 0xFFE01F:
          RGB_shansuo();
           Serial.println("7");
            label=7;
            key=7;
            break;
            //8
          case 0xFFA857:
          RGB_shansuo();
           Serial.println("8");
            label=8;
            key=8;
            break;
            //9
          case 0xFF906F:
          RGB_shansuo();
           Serial.println("9");
            label=9;
            key=9;
            break;
            //0
          case 0xFF9867:
          RGB_shansuo();
           Serial.println("0");
            label=0;
            break;
            //up
          case 0xFF18E7:
           Serial.println("up");
            label=11;
            break;
            //down
          case 0xFF4AB5:
           Serial.println("down");
            label=12;
            break;
            //left
          case 0xFF10EF:
           Serial.println("left");
            label=13;
            break;
            //right
          case 0xFF5AA5:
           Serial.println("right");
            label=14;
            break;
            //ok
          case 0xFF38C7:
          RGB_shansuo();
           Serial.println("ok");
            label=15;
            _ok=15;
            break;  
            //*
          case 0xFF6897:
          RGB_shansuo();
           Serial.println("*");
            label=16;
            _add_=16;
            break;
            //#
          case 0xFFB04F:
          RGB_shansuo();
           Serial.println("#");
            label=17;
            next=17;
            break;
            //else
          default:
            break;
         }
      
    //    if(results.value==0xFFB04F){
    //       Serial.println(results.value,HEX);//获取红外码值
    //    }
        irrecv.resume(); // 接收下一个值
      }
        //Serial.println(key);
        if(label==r) {
          flag=true;//确定返回
          label=99;//复位
      }
      return flag;
    }
    
    //舞蹈动作
    void duoji_action(){
      
      switch(key){
        case 1:
        Initialize();
        left_foot_hand();
        break;
        case 2:
        Initialize();
        right_foot_hand();
        break;
        case 3:
        Initialize();
        two_foot_head();
        break;
        case 4:
        Initialize();
        niuyao();
        break;
        case 5:
        Initialize();
        letf_hand_light_foot();
        break;
        case 6:
        Initialize();
        light_hand_letf_foot();
        break;
      }
    }
    
    //左挥手踮脚
    void left_foot_hand(){
        for(int j=0;j<3;j++){
          sendangle(1,400);
          sendangle(5,400);
          delay(500);
          sendangle(1,512);
          sendangle(5,600);
          delay(500);       
        }
        sendangle(5,900);
        delay(500);
    }
    
    //右挥手踮脚
    void right_foot_hand(){
       for(int j=0;j<3;j++){
          sendangle(2,624);
          sendangle(6,624);
          delay(500);
          sendangle(2,512);
          sendangle(6,400);
          delay(500);       
        }
        sendangle(6,124);
        delay(500);
    }
    
    //左右 挥手 踮脚
    void two_foot_head(){
      for(int j=0;j<3;j++){
          sendangle(1,400);
          sendangle(2,624);
          sendangle(5,200);
          sendangle(6,824);
          delay(500);
          sendangle(1,512);
          sendangle(2,512);
          sendangle(5,512);
          sendangle(6,512);
          delay(500);       
        }
        Initialize();
        delay(500);
    }
    
    //扭腰
    void niuyao(){
      int buf5_dz1[6]={512,512,512,512,900,150};
      int buf5_dz2[6]={397,601,611,420,512,512};
      int buf5_dz3[6]={347,606,794,534,449,560};
      int buf5_dz4[6]={441,703,477,208,448,559};
    
        weifen(buf5_dz1,buf5_dz3,20,10);
          for(int i =0;i<4;i++){
            weifen(buf5_dz3,buf5_dz4,20,10);
            weifen(buf5_dz4,buf5_dz3,20,10);
          }
          weifen(buf5_dz3,buf5_dz1,20,10);
          delay(500); 
    }
    //左挥手 有踮脚
    void letf_hand_light_foot(){
       for(int j=0;j<3;j++){
          sendangle(2,624);
          sendangle(5,400);
          delay(500);
          sendangle(2,512);
          sendangle(5,600);
          delay(500);       
        }
        sendangle(5,900);
        delay(500);
    }
    
    //右挥手 左踮脚
    void light_hand_letf_foot(){
      for(int j=0;j<3;j++){
          sendangle(1,400);
          sendangle(6,624);
          delay(500);
          sendangle(1,512);
          sendangle(6,400);
          delay(500);       
        }
        sendangle(6,124);
        delay(500);
    }
    
    //动作初始化
    void Initialize(){
       int b=512;
      for(int i=1;i<=6;i++){
        if(i==5){
          b=900;
        }else if(i==6){
          b=150;    
        }
        sendangle(i,b);      
      } 
      delay(500); 
    }
    
    //发送6个舵机
    void _send(float *buff){
      for(int i=0;i<6;i++){
        int b=i+1;
        sendangle_(b,buff[i]);
      }
    }
    
    //微分处理舵机角度
    void weifen(int *buf_1,int *buf_2,int times,int wave_time){
     float buff_1[6], buff_2[6];
      float buf[6];
      for(int i =0;i<6;i++){
        buff_1[i]=(float)(*(buf_2+i)-*(buf_1+i))/times;
        buff_2[i]=(float)*(buf_1+i);
      
      }
      for(int j=0;j<times;j++){
        //次数 
        for(int q=0;q<6;q++){
          //发送角度 
          buff_2[q]+=buff_1[q];
          buf[q]=buff_2[q];
        }
        _send(buf);
      
        delay(wave_time);
      }
    }
    
    //舵机角度函数
    void sendangle(int idnumber,int value)//idnumber 舵机ID  value 舵机角度
    {
     
      uint16_t result=0;
      uint8_t data[6]={0};
      uint8_t i=0;
      int z=(int)value;
      
      switch(idnumber) {
        case 1:
          z=(z>300)?z:300,z=(z<600)?z:600;//600>z>300 
          break;
        case 2:
          z=(z>300)?z:300,z=(z<600)?z:600;//600>z>300
          break;
        case 3:
          z=(z>400)?z:400,z=(z<800)?z:800;//800>z>400
          break;
        case 4:
          z=(z>200)?z:400,z=(z<600)?z:600;//600>z>200
          break;
        case 5:
          z=(z>200)?z:200,z=(z<900)?z:900;//900>z>200
          break;
        case 6:
          z=(z>150)?z:150,z=(z<824)?z:824;//824>z>150
          break;
        default:
          break;
              
          
      } 
      result=z;
    
    
        Serial.begin(111100,SERIAL_8N1);
      data[0]=255;
      data[1]=255;
      data[2]=idnumber; 
      data[4]=(uint8_t)result;
      result>>=8;
      data[3]=(uint8_t)result;  
      
      data[5]=(uint8_t)(data[2]+data[3]+data[4]);
      data[5]=~data[5];
    
      for(i=0;i<=5;i++)
        Serial.write(data[i]);
      delay(50);
      Serial.end();
    }
    
    //减少延迟及角度限制
    void sendangle_(int idnumber,int value)//idnumber 舵机ID  value 舵机角度
    {
     
      uint16_t result=0;
      uint8_t data[6]={0};
      uint8_t i=0;
      int z=(int)value;
      result=z;
      Serial.begin(111100,SERIAL_8N1);
      data[0]=255;
      data[1]=255;
      data[2]=idnumber; 
      data[4]=(uint8_t)result;
      result>>=8;
      data[3]=(uint8_t)result;  
      
      data[5]=(uint8_t)(data[2]+data[3]+data[4]);
      data[5]=~data[5];
    
      for(i=0;i<=5;i++)
        Serial.write(data[i]);
      delay(5);
      Serial.end();
    
    }
    
    void move_(int direction_,int speed_){//电机驱动
      int leftSpeed = 0;
      int rightSpeed = 0;
      if(direction_ == 1){
        digitalWrite(A3,LOW);
        digitalWrite(12,HIGH);
        analogWrite(M1,speed_);
        analogWrite(M2,speed_);
      }else if(direction_ == 2){
        digitalWrite(A3,HIGH);
        digitalWrite(12,LOW);
        analogWrite(M1,speed_);
        analogWrite(M2,speed_);
      }else if(direction_ == 3){
        digitalWrite(A3,HIGH);
        digitalWrite(12,HIGH);
        analogWrite(M1,speed_);
        analogWrite(M2,speed_);
      }else if(direction_ == 4){
        digitalWrite(A3,LOW);
        digitalWrite(12,LOW);
        analogWrite(M1,speed_);
        analogWrite(M2,speed_);
      } 
    }
    
    /*——————————定时闹钟—————————————*/
    void callbackfun(){//蜂鸣器闹铃
      boolean state = true;
      while(state){
            for(int i=0;i<80;i++)//输出一个频率的声音
            {
                digitalWrite(buzzer_pin,HIGH);//发声音
                delay(1);//延时1ms
                digitalWrite(buzzer_pin,LOW);
                delay(1);
            }
             for(int i=0;i<100;i++)//输出另一个频率的声音,这里的100与前面的80一样，用来控制频率，可以自己调节
            {
              digitalWrite(buzzer_pin,HIGH);
              delay(2);
              digitalWrite(buzzer_pin,LOW);
              delay(2);
            }
            if (irrecv.decode(&results)) {
              if(results.value==0xFF9867) {
                state=false;
              }
            }
    }
    }
    void  setTime(){ //设置时间           //unsigned long 0-4,294,967,295
      boolean settime_state = true; //定时状态
      
       while(settime_state){
              if (irrecv.decode(&results)) {
                     switch(results.value){
                        //*
                      case 0xFF6897:RGB_shansuo();
                      Hours();break;
                        //#
                      case 0xFFB04F:RGB_shansuo();
                      Minutes();break;
                        //OK
                      case 0xFF38C7:RGB_shansuo();
                      StarClock();settime_state = false;break;
                      //0
                      case 0xFF9867:RGB_shansuo();
                      hours=0;
                      settime_state = false;break;
                    }
              irrecv.resume();
        }
       }
    }
    void Hours(){   //小时
      Serial.println(111);
      boolean hours_state = true; 
      while(hours_state){
            if (irrecv.decode(&results)) {
              switch(results.value){
                   //1
                case 0xFFA25D:RGB_shansuo();
                hours=3600000;break;
                  //2 
                case 0xFF629D:RGB_shansuo();
                hours=7200000;break;
                  //3
                case 0xFFE21D:RGB_shansuo();
                hours=10800000;break;
                  //4
                case 0xFF22DD:RGB_shansuo();
                hours=14400000;break;
                  //5
                case 0xFF02FD:RGB_shansuo();
                hours=18000000;break;
                  //6
                case 0xFFC23D:RGB_shansuo();
                hours=21600000;break;
                  //7
                case 0xFFE01F:RGB_shansuo();
                hours=25200000;break;
                  //8
                case 0xFFA857:RGB_shansuo();
                hours=28800000;break;
                  //9
                case 0xFF906F:RGB_shansuo();
                hours=32400000;break;
                  //0
               case 0xFF9867:RGB_shansuo();
               hours=0;break;
               //OK
               case 0xFF38C7:RGB_shansuo();
               hours_state = false;break;
              }
        irrecv.resume();
         }
      }
        Serial.println(333);
    }
    void Minutes(){    //分钟
      boolean minutes_state = true; 
      
      while(minutes_state){
         if (irrecv.decode(&results)) {
              switch(results.value){
                      //1
                    case 0xFFA25D:RGB_shansuo();
                    count(1);break;
                      //2 
                    case 0xFF629D:RGB_shansuo();
                    count(2);break;
                      //3
                    case 0xFFE21D:RGB_shansuo();
                    count(3);break;
                      //4
                    case 0xFF22DD:RGB_shansuo();
                    count(4);break;
                      //5
                    case 0xFF02FD:RGB_shansuo();
                    count(5);break;
                      //6
                    case 0xFFC23D:RGB_shansuo();
                    count(6);break;
                      //7
                    case 0xFFE01F:RGB_shansuo();
                    count(7);break;
                      //8
                    case 0xFFA857:RGB_shansuo();
                    count(8);break;
                      //9
                    case 0xFF906F:RGB_shansuo();
                    count(9);break;
                      //0
                   case 0xFF9867:RGB_shansuo();
                   count(0);break;
                    //OK
                   case 0xFF38C7:RGB_shansuo();
                   minutes_state = false;a=1;break;
              }
        irrecv.resume();
         }
      }
    }
    void StarClock(){       //开始定时
      Ttime = hours+minutes;
     t.after(Ttime,callbackfun);   //1000mm=1s   60000=1min;
     Serial.println(Ttime);
     Serial.println(666);
     
    }
    void count(int num){//计算秒数
      Serial.println(num);
      if(a==1){minutes = 60000 * num;a++;}    
      else if(a==2){int shi =minutes*10 ;int ge = 6000*num; minutes = shi + ge;a++;}  
      Serial.println(minutes);
    }

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