#include “Voice.h” //申明语音识别库文件
#include”Servo.h”
Servo servo1; //舵机1
Servo servo2; //舵机2
Servo servo3; //舵机3
#define SUM 28 //定义待识别的单词数量
uint8 nAsrStatus=0; //申明语音模块工作状态
int ledPin=3;
int power1=20;
int power2=20;
int a=70,b=70,c=100;
char sRecog[SUM][80] = //定义识别单词“拼音”内容的数组，加入一些口头语可以增加准确度，减少误操作
{“qian”,”hou”,”zuo”,”you”,”shang”,”xia”,”kai”,”kaideng”,”fuwei”,
”guan”,”guandeng”,”jiangnan”,”sidaier”,”jiannan”};
char flag; //定义向上位机发送字符命令的变量
//根据单词数组的元素号，执行相应命令
void finally (unsigned char n)
{
switch(n)
{
case 0:
b=b+power1;
c=c+power1;
if(b<145)
servo2.write(b); //前进
else
servo2.write(b=b-power1);
if(c>50)
servo3.write(c);
else
servo3.write(c=c-power1);
break;
case 1:
b=b-power1;
c=c-power1;
if(b>20)
servo2.write(b); //后退
else
servo2.write(b=b+power1);
if(c<160)
servo3.write(c);
else
servo3.write(c=c+power1);
break;
case 2:
a=a-power2;
if(a>0)
servo1.write(a=a); //左转
else
servo1.write(a=a+power2);
break;
case 3:
a=a+power2;
if(a<150)
servo1.write(a); //右转
else
servo1.write(a=a-power2);
break;
case 4:
c=c+power1;
if(c<160)
servo3.write(c); //起
else
servo3.write(c=c-power1);
break;
case 5:
c=c-power1;
if(c>50)
servo3.write(c); //下
else
servo3.write(c=c+power1);
break;
case 6:
servo1.write(a=70); //开始时默认位置
servo2.write(b=70);
servo3.write(c=100);
digitalWrite(ledPin, HIGH); // sets the LED on
break;
case 7:
servo1.write(a=70);//Begin
servo2.write(b=70);
servo3.write(c=100);
digitalWrite(ledPin, HIGH); // sets the LED on
break;
case 8:
servo1.write(a=70);//Begin
servo2.write(b=70);
servo3.write(c=100);
digitalWrite(ledPin, HIGH); // sets the LED on
break;
case 9:
servo1.write(a=70); //停止
servo2.write(b=30);
servo3.write(c=50);
digitalWrite(ledPin, LOW); // sets the LED off
break;
case 10:
servo1.write(a=70); //停止
servo2.write(b=30);
servo3.write(c=50);
digitalWrite(ledPin, LOW); // sets the LED off
break;
case 11: //jiangnanSTYLE
servo1.write(a=70);
servo2.write(b=70);
servo3.write(c=100);
for(int j=0;j<5;j++)
{
digitalWrite(ledPin, HIGH); // sets the LED on
delay(1000);
digitalWrite(ledPin,LOW); // sets the LED off
delay(1000);
}
digitalWrite(ledPin, HIGH); // sets the LED on
for(a;a>=30;a=a-5)
{
servo1.write(a);
delay(100);
}
delay(1000);
for(int i=0;i<3;i++)
{
for(c;c<115;c=c+5)
{
servo3.write(c);
delay(100);
}
for(c;c>85;c=c-5)
{
servo3.write(c);
delay(100);
}
}
delay(500);
for(a;a<=120;a=a+5)
{
servo1.write(a);
delay(100);
}
delay(1000);
for(int i=0;i<3;i++)
{
for(c;c<115;c=c+5)
{
servo3.write(c);
delay(100);
}
for(c;c>85;c=c-5)
{
servo3.write(c);
delay(100);
}
}
servo1.write(a=70);
servo2.write(b=70);
servo3.write(c=100);
for(int i=0;i<5;i++)
{
for(b,c;b<105;b=b+5,c=c+7)
{
servo2.write(b);
servo3.write(c);
digitalWrite(ledPin, HIGH);
delay(50);
digitalWrite(ledPin, LOW);
delay(50);
}
for(b,c;b>55;b=b-5,c=c-7)
{
servo2.write(b);
servo3.write(c);
digitalWrite(ledPin, HIGH);
delay(50);
digitalWrite(ledPin, LOW);
delay(50);
}
}
servo1.write(a=70);
servo2.write(b=70);
servo3.write(c=100);
digitalWrite(ledPin, HIGH);
break;
case 12: //yaotou
servo1.write(a=70);
for(int i=0;i<5;i++)
{
for(a;a>35;a=a-5)
{
servo1.write(a);
delay(100);
}
for(a;a<105;a=a+5)
{
servo1.write(a);
delay(100);
}
}
servo1.write(a=70);
break;
case 13: //diantou
servo3.write(c=100);
for(int i=0;i<3;i++)
{
for(c;c<115;c=c+5)
{
servo3.write(c);
delay(100);
}
for(c;c>85;c=c-5)
{
servo3.write(c);
delay(100);
}
}
servo3.write(c=100);
break;
default:
break;
}
}
//识别到声音，产生一个触发中断
void ExtInt0Handler ()
{
Voice.ProcessInt0(); //执行中断服务子程序
}
//初始化
void setup()
{
servo1.attach(8);
servo1.write(70);
servo2.attach(10);
servo2.write(70);
servo3.attach(13);
servo3.write(100);
pinMode(ledPin, OUTPUT); // sets the digital pin as output
digitalWrite(ledPin, HIGH); // sets the LED on
Voice.Initialise(MIC); //初始化语音模块
attachInterrupt(0,ExtInt0Handler,LOW);
}
//主循环
void loop()
{
uint8 nAsrRes;
nAsrStatus = LD_ASR_NONE;
while(1)
{
//当语音模块处于各状态，执行相应工作
switch(nAsrStatus)
{
case LD_ASR_RUNING:
case LD_ASR_ERROR:
break;
case LD_ASR_NONE:
{
nAsrStatus=LD_ASR_RUNING;
if (Voice.RunASR(SUM,80,sRecog)==0)
{
nAsrStatus= LD_ASR_ERROR;
// Serial.println( “ASR_ERROR”);
}
//Serial.println( “ASR_RUNING…..”);
break;
}
//识别到单词是设定单词
case LD_ASR_FOUNDOK:
{
//Serial.print( “ASR_FOUN ONE: “);
//提取所识别到的单词是数组的第几个元素
nAsrRes =Voice. LD_GetResult();
//根据数组元素号，执行相应命令
finally(nAsrRes);
nAsrStatus = LD_ASR_NONE;
break;
}
//识别到单词“不是”设定单词
case LD_ASR_FOUNDZERO:
{
//Serial.println( “ASR_FOUND ZERO”);
nAsrStatus = LD_ASR_NONE;
break;
}
default:
{
nAsrStatus = LD_ASR_NONE;
break;
}
}// switch
delay(100); //延时0.1s
}// while
} |
发表于 2014-11-28 14:14:13
楼主