Part 1: Making A Platform
int E1 = 5; //M1 Speed Control int E2 = 6; //M2 Speed Control int M1 = 4; //M1 Direction Control int M2 = 7; //M1 Direction Control void stop(void) //Stop { digitalWrite(E1,0); digitalWrite(M1,LOW); digitalWrite(E2,0); digitalWrite(M2,LOW); } void advance(char a,char b) //Move forward { analogWrite (E1,a); //PWM Speed Control digitalWrite(M1,HIGH); analogWrite (E2,b); digitalWrite(M2,HIGH); } void back_off (char a,char b) //Move backward { analogWrite (E1,a); digitalWrite(M1,LOW); analogWrite (E2,b); digitalWrite(M2,LOW); } void turn_L (char a,char b) //Turn Left { analogWrite (E1,a); digitalWrite(M1,LOW); analogWrite (E2,b); digitalWrite(M2,HIGH); } void turn_R (char a,char b) //Turn Right { analogWrite (E1,a); digitalWrite(M1,HIGH); analogWrite (E2,b); digitalWrite(M2,LOW); } void setup(void) { int i; for(i=4;i<=7;i++) pinMode(i, OUTPUT); Serial.begin(19200); //Set Baud Rate Serial.println("Run keyboard control"); digitalWrite(E1,LOW); digitalWrite(E2,LOW); } void loop(void) { if(Serial.available()){ char val = Serial.read(); if(val != -1) { switch(val) { case 'w'://Move Forward advance (255,255); //move forward in max speed break; case 's'://Move Backward back_off (255,255); //move back in max speed break; case 'a'://Turn Left turn_L (100,100); break; case 'd'://Turn Right turn_R (100,100); break; case 'z': Serial.println("Hello"); break; case 'x': stop(); break; } } else stop(); } }Part 2: Adding Voice Control
#include <Voice.h> #define SUM 2 //variable no greater than 50 uint8 nAsrStatus=0; char sRecog[SUM][80] = {"turn on lights", "turn off lights"};//variable not greater than 79, user can modify int state=7; //status indicator int led=8; //control digital port void finally (unsigned char n) { switch(n) //array corresponding keyword serial number, such as arrays recognise the first keyword is “turn on lights” and corresponding sequence number is 0; { case 0: Serial.println( "turn on lights"); Serial.println( " "); digitalWrite(led,LOW); break; case 1: Serial.println( "turn off lights"); digitalWrite(led,HIGH); break; default: Serial.println( "error"); Serial.println( " "); break; } } void ExtInt0Handler () { Voice.ProcessInt0(); //send an interrupt signal } void setup() { Serial.begin(9600); Voice.Initialise(MIC,VoiceRecognitionV1);//Initialise mode MIC or MONO,default is MIC //VoiceRecognitionV1 is VoiceRecognitionV1.0 shield //VoiceRecognitionV2 is VoiceRecognitionV2.1 module attachInterrupt(0,ExtInt0Handler,LOW); pinMode(led,OUTPUT); pinMode(state,OUTPUT); digitalWrite(state,HIGH); digitalWrite(led,HIGH); } void loop() { uint8 nAsrRes; nAsrStatus = LD_ASR_NONE; while(1) { 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) //incorrect identification { nAsrStatus= LD_ASR_ERROR; Serial.println( "ASR_ERROR"); } digitalWrite(state,LOW); Serial.println( "ASR_RUNING....."); break; } case LD_ASR_FOUNDOK: { digitalWrite(state,HIGH); nAsrRes =Voice. LD_GetResult();//once asr recognition process ends, pick up asr recognition results finally(nAsrRes); nAsrStatus = LD_ASR_NONE; break; } case LD_ASR_FOUNDZERO: default: { nAsrStatus = LD_ASR_NONE; break; } }// switch delay(500); }// while }
#include <Voice.h> //#include <SoftwareSerial.h> //ruan chuankou #define SUM 5 //SUM????????,?????50? uint8 nAsrStatus=0; //SoftwareSerial mySerial(10, 11); // RX, TX char sRecog[SUM][80] = {"qian jin", "hou tui","zuo zhuan", "you zhuan","ting zhi"};// int E1 = 5; //M1 Speed Control int E2 = 6; //M2 Speed Control int M1 = 4; //M1 Direction Control int M2 = 7; //M1 Direction Control void stop(void) //Stop { digitalWrite(E1,0); digitalWrite(E2,0); } void advance(char a,char b) //Move forward { analogWrite (E1,a); //PWM Speed Control digitalWrite(M1,HIGH); analogWrite (E2,b); digitalWrite(M2,HIGH); } void back_off (char a,char b) //Move backward { analogWrite (E1,a); digitalWrite(M1,LOW); analogWrite (E2,b); digitalWrite(M2,LOW); } void turn_L (char a,char b) //Turn Left { analogWrite (E1,a); digitalWrite(M1,LOW); analogWrite (E2,b); digitalWrite(M2,HIGH); } void turn_R (char a,char b) //Turn Right { analogWrite (E1,a); digitalWrite(M1,HIGH); analogWrite (E2,b); digitalWrite(M2,LOW); } void finally (unsigned char n) { switch(n) // { case 0: Serial.println( "qian jin"); Serial.println( " "); advance (255,255); break; case 1: Serial.println( "hou tui"); back_off (255,255); break; case 2: Serial.println( "zuo zhuan"); turn_L (100,100); break; case 3: Serial.println( "you zhuan"); turn_R (100,100); break; case 4: Serial.println( "ting zhi"); stop(); break; default: Serial.println( "error"); Serial.println( " "); break; } } void ExtInt0Handler () { Voice.ProcessInt0(); // } void setup(void) { int i; for(i=4;i<=7;i++) pinMode(i, OUTPUT); Serial.begin(19200); //Set Baud Rate Voice.Initialise(MIC,VoiceRecognitionV1);//Initialise mode MIC or MONO,default is MIC //VoiceRecognitionV1 is VoiceRecognitionV1.0 shield //VoiceRecognitionV2 is VoiceRecognitionV2.1 module attachInterrupt(0,ExtInt0Handler,LOW); } void loop() { uint8 nAsrRes; nAsrStatus = LD_ASR_NONE; while(1) { 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; } case LD_ASR_FOUNDOK: { nAsrRes =Voice. LD_GetResult();// finally(nAsrRes); nAsrStatus = LD_ASR_NONE; break; } case LD_ASR_FOUNDZERO: default: { nAsrStatus = LD_ASR_NONE; break; } }// switch delay(500); }// while }Realize the function
Step 2: Programming
We need to program it after finishing the wiring. MP3’s player code will be added based on previous program. Audio files are stored on a micro SD card, you can use any that you want to correspond to each response. Perhaps you could record your own responses so that it sounds like you can chat with the Arduino robot). Please be noted that we are using serial port communication, so the button on the voice recognition module should point to UART instead of 12C.
The code I used is as follows:
void finally (unsigned char n) { switch(n) //n??????????????????sRecog?????????“kai deng”????????0? { case 0: Serial.println( "qian jin"); Serial.println("\qian"); advance (255,255); break; case 1: Serial.println( "hou tui"); Serial.println("\hou"); back_off (255,255); break; case 2: Serial.println( "zuo zhuan"); Serial.println("\zuo"); turn_L (100,100); break; case 3: Serial.println( "you zhuan"); Serial.println("\you"); turn_R (100,100); break; case 4: Serial.println( "ting zhi"); Serial.println("\zhi"); stop(); break; case 5: Serial.println( "chang ge"); Serial.println("\bo"); Serial.println("\2"); break; case 6: Serial.println( "zan ting bo"); Serial.println("\:p"); break; case 7: Serial.println( "ji xu bo"); Serial.println("\:s"); break; case 8: Serial.println( "xia yi shou"); Serial.println("\:n"); break; case 9: Serial.println( "shang yi shou"); Serial.println("\:u"); break; default: Serial.println( "error"); Serial.println( " "); break; } }