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开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）

原视频：好，自制一个桌面宠物！_哔哩哔哩_bilibili
基础所需：基础电路认识，C语言，STM32开发，STM32CUBEIDE或CUBEMX和Keil使用（重要），一点点艺术细胞、一点点耐心。
CAUTION:本文重点在代码部分的开源，是基于HAL库。硬件手工部分不出教程（没必要）可以直接看视频P2，文末附步态参考出处，接线图，舵机安排。

硬件配置：

主控：STM32F103C8T6 粉色沉金板

舵机：SG90 *4

屏幕：1.3寸OLED （IIC驱动）

供电：锂电池 (3.7V 30mm*40mm 800mah) + 锂电池充放电模块（不会自动断电，适配3.7V锂电池,充放电同口）

蓝牙：低功耗蓝牙（BLE,串口透传，便宜又好用)

软件配置：

手机app开发：appinventor制作（这里不附教程，因为我也不熟，唯一有用的建议是我的蓝牙模组要用BLE而不是普通蓝牙,需另外下载并配置，建议另寻他佬教程，需要app的可B站私信

单片机开发：

平台：STM32CUBEIDE（等效STM32CUBEMX+Keil）

软件开源：  

提纲：

1.定时器pwm波输出

2.串口信息交互

3.OLED显示  

CUBEMX配置：

（这里没有配置驱动屏幕的IIC,选择直接软件模拟，文末会附驱动代码。

1.RCC时钟配置：

(无脑选择外部时钟，无脑拉最高频。

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第1张图片

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第2张图片

2.定时器配置PWM输出模式：

（一个定时器直接开四个PWM通道即可，并关注输出引脚是否正确。根据舵机参数，配置PWM频率为50Hz。通道一为前右脚，通道二为后右脚，通道三为前左脚，通道四为后左脚，脚的位置和角度见文末图，是参考文末大佬的视频的

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第3张图片

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第4张图片

考虑到单片机引脚位置，可以把通道2、3复用到A3A4，方便接线。 

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第5张图片 

3.配置串口

（也很无脑，但要根据蓝牙模块的参数配置传输速率（Baud Rate)，我是115200。

并且开中断NVIC,优先级按经验来填2就可。

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第6张图片开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第7张图片

4.IIC引脚配置（软件模拟IIC，引脚任意两个IO就可以，要命名成这个是因为和驱动代码匹配)

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第8张图片

小Tip:

经验所得，把系统滴答时钟的优先级拉最高可以防止卡死在HAL_Delay里面。

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第9张图片

5.最后生成工程，用keil的这里改成MDK_ARM

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第10张图片

推荐打勾这个，为每个外设建.c和.h文件，使工程结构更清晰。

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第11张图片

最后直接ctrl+s即可生成工程（用STM32CUBEMX+Keil的点Generate code建立工程）

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第12张图片

代码部分：（最后会附完整代码，其中LED的控制可有可无。

1.PWM波输出（姿态
uint16_t angle(uint8_t angle) //角度CCR值转换
{
	return angle*2000/180+500;
}

void Rbt_Init(void) //立正
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(100);
}

void move_forward(void) //前进
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));

	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_behind(void) //后退
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));

	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_right(void) //右转
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
}

void move_left(void) //左转
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_swing(void) //摇摆
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(50));
	HAL_Delay(250);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(130));
	HAL_Delay(250);
}

void move_stretch(void){ //伸懒腰+坐下招手
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	if(TIM2->CCR1CCR3>angle(25)){
		for(uint8_t i=0;i<70;i++){       //循环算法，可以减慢舵机运转速度
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		for(uint8_t i=0;i<70;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<65;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<20;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70));
	}
}

void move_sleep(void){ //睡眠
	if(TIM2->CCR3CCR1>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
	}
	if(TIM2->CCR2CCR4>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
	}

}
2. 串口接收

（采用中断

while前开一下

HAL_UART_Receive_IT(&huart1, &move_mode, 1);

 中断回调函数（用来切换表情，然后再开启中断接收（不然后面会接收不到）

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	//重新设置中断
	if(move_mode == 8){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//前进脸
	}
	else if(move_mode == 2){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//后退脸
	}
	else if(move_mode == 4){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP4);//左转脸
	}
	else if(move_mode == 6){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP3);//右转脸
	}
	else if(move_mode == 'A'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//摇摆脸
	}

	HAL_UART_Receive_IT(&huart1, &move_mode, 1); //再次开启中断接收
}
 3.主函数内while循环（运行当前动作
while (1)
  {
	  if(move_mode == 8){//前进
		  move_forward();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 2){//后退
		  move_behind();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 4){//左转
		  move_left();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 6){//右转
		  move_right();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 5 || move_mode == 'C'){//立正
		  OLED_DrawBMP(0,0,128,8,BMP1);
		  Rbt_Init();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'A'){//摇摆
		  move_swing();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'B'){//坐下
		  if(flag==0){
			  OLED_DrawBMP(0,0,128,8,BMP2);
			  move_stretch();
			  OLED_DrawBMP(0,0,128,8,BMP5);
			  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
			  flag=1;
		  }
	  }
	  else if(move_mode == 'D'){//睡觉
		  if(flag==0){
			  move_sleep();
			  OLED_DrawBMP(0,0,128,8,BMP6);
			  flag=1;
		  }
	  }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }

main文件全部代码：


/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include 
#include "oled.h"
#include "bmp.h"
/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */
uint8_t move_mode = 0;
uint8_t flag = 0;
#define move_delay 150 //一般动作调速
#define move_speed 4 //慢速动作调速
/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */
void Rbt_Init(void);
uint16_t angle(uint8_t angle);
void move_forward(void);
void move_behind(void);
void move_right(void);
void move_left(void);
void move_swing(void);
void move_stretch(void);
void move_test(void);
void move_sleep(void);
/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart)
{
	//重新设置中断
	if(move_mode == 8){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//前进脸
	}
	else if(move_mode == 2){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//后退脸
	}
	else if(move_mode == 4){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP4);//左转脸
	}
	else if(move_mode == 6){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP3);//右转脸
	}
	else if(move_mode == 'A'){
		OLED_Clear();
		OLED_DrawBMP(0,0,128,8,BMP2);//摇摆脸
	}

	HAL_UART_Receive_IT(&huart1, &move_mode, 1);
}

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{
  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_USART1_UART_Init();
  MX_TIM2_Init();
  /* USER CODE BEGIN 2 */

  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1);//开启PWM输出
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_2);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_3);
  HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_4);
  HAL_UART_Receive_IT(&huart1, &move_mode, 1);//开启中断接收
  OLED_Init();//屏幕初始化
  OLED_Clear();
  OLED_DrawBMP(0,0,128,8,BMP6);//立正脸
  while (1)
  {
	  /*__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(120));
	 HAL_Delay(1);*/
	  if(move_mode == 8){//前进
		  move_forward();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 2){//后退
		  move_behind();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 4){//左转
		  move_left();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 6){//右转
		  move_right();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 5 || move_mode == 'C'){//立正
		  OLED_DrawBMP(0,0,128,8,BMP1);
		  Rbt_Init();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'A'){//摇摆
		  move_swing();
		  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
		  flag=0;
	  }
	  else if(move_mode == 'B'){//坐下
		  if(flag==0){
			  OLED_DrawBMP(0,0,128,8,BMP2);
			  move_stretch();
			  OLED_DrawBMP(0,0,128,8,BMP5);
			  HAL_GPIO_TogglePin(LED0_GPIO_Port, LED0_Pin);
			  flag=1;
		  }
	  }
	  else if(move_mode == 'D'){//睡觉
		  if(flag==0){
			  move_sleep();
			  OLED_DrawBMP(0,0,128,8,BMP6);
			  flag=1;
		  }
	  }
    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */
void Rbt_Init(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(100);
}
uint16_t angle(uint8_t angle)
{
	return angle*2000/180+500;
}
void move_forward(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));

	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_behind(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));

	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_right(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
}

void move_left(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(135));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(135));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(45));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(45));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	HAL_Delay(move_delay);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	HAL_Delay(move_delay);
}

void move_swing(void)
{
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(50));
	HAL_Delay(200);
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(50));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(130));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(130));
	HAL_Delay(200);
}

void move_stretch(void){
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90));
	__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90));
	if(TIM2->CCR1CCR3>angle(25)){
		for(uint8_t i=0;i<70;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90-i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		for(uint8_t i=0;i<70;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(160-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(20+i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<65;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
		for(uint8_t i=0;i<20;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(1000);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(178));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(140));
		HAL_Delay(500);
		__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(70));
	}
}

void move_sleep(void){
	if(TIM2->CCR3CCR1>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_1,angle(90-i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_3,angle(90+i));
			HAL_Delay(move_speed);
		}
	}
	if(TIM2->CCR2CCR4>angle(20)){
		for(uint8_t i=0;i<75;i++){
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_2,angle(90+i));
			__HAL_TIM_SetCompare(&htim2, TIM_CHANNEL_4,angle(90-i));
			HAL_Delay(move_speed);
		}
	}

}
/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}

#ifdef  USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */

最后附OLED驱动(评价是不如去参考别人的 

1."oled.c"


#include "oled.h"
//#include "stdlib.h"
#include "oledfont.h"  	 
#include "main.h"

void IIC_Start()
{

	OLED_SCLK_Set() ;
	OLED_SDIN_Set();
	OLED_SDIN_Clr();
	OLED_SCLK_Clr();
}

/**********************************************
//IIC Stop
**********************************************/
void IIC_Stop()
{

	OLED_SCLK_Clr();
	OLED_SDIN_Clr();
	OLED_SDIN_Set();
	OLED_SCLK_Set() ;
}
/**********************************************
// IIC Write byte
**********************************************/


void Write_IIC_Byte(unsigned char IIC_Byte)
{
	unsigned char i;
	unsigned char m,da;
	da=IIC_Byte;
	for(i=0;i<8;i++)		
	{
			m=da;
			OLED_SCLK_Clr();
		m=m&0x80;
		if(m==0x80)
		{OLED_SDIN_Set();}
		else OLED_SDIN_Clr();
			da=da<<1;
		OLED_SCLK_Set();
		}

	OLED_SCLK_Clr();
	OLED_SCLK_Set() ;
}
/**********************************************
// IIC Write Command
**********************************************/
void Write_IIC_Command(unsigned char IIC_Command)
{
   IIC_Start();
   Write_IIC_Byte(0x78);            //Slave address,SA0=0
   Write_IIC_Byte(0x00);			//write command
   Write_IIC_Byte(IIC_Command); 
   IIC_Stop();
}
/**********************************************
// IIC Write Data
**********************************************/
void Write_IIC_Data(unsigned char IIC_Data)
{
   IIC_Start();
   Write_IIC_Byte(0x78);			//D/C#=0; R/W#=0
   Write_IIC_Byte(0x40);			//write data
   Write_IIC_Byte(IIC_Data);
   IIC_Stop();
}
void OLED_WR_Byte(unsigned dat,unsigned cmd)
{
	if(cmd)
			{
   IIC_Start();
   Write_IIC_Byte(0x78);			//D/C#=0; R/W#=0
   Write_IIC_Byte(0x40);			//write data
   Write_IIC_Byte(dat);
   IIC_Stop();
		}
	else {
		IIC_Start();
   Write_IIC_Byte(0x78);            //Slave address,SA0=0
   Write_IIC_Byte(0x00);			//write command
   Write_IIC_Byte(dat); 
   IIC_Stop();
		
	}


}


/********************************************
// fill_Picture
********************************************/
void fill_picture(unsigned char fill_Data)
{
	unsigned char m,n;
	for(m=0;m<8;m++)
	{
		OLED_WR_Byte(0xb0+m,0);		//page0-page1
		OLED_WR_Byte(0x00,0);		//low column start address
		OLED_WR_Byte(0x10,0);		//high column start address
		for(n=0;n<128;n++)
			{
				OLED_WR_Byte(fill_Data,1);
			}
	}
}


/***********************Delay****************************************/
/*void Delay_50ms(unsigned int Del_50ms)
{
	unsigned int m;
	for(;Del_50ms>0;Del_50ms--)
		for(m=6245;m>0;m--);
}

void Delay_1ms(unsigned int Del_1ms)
{
	unsigned char j;
	while(Del_1ms--)
	{	
		for(j=0;j<123;j++);
	}
}*/

//��������

	void OLED_Set_Pos(unsigned char x, unsigned char y) 
{ 	OLED_WR_Byte(0xb0+y,OLED_CMD);
	OLED_WR_Byte(((x&0xf0)>>4)|0x10,OLED_CMD);
	OLED_WR_Byte((x&0x0f)|0x01,OLED_CMD); 
}   	  
//����OLED��ʾ    
void OLED_Display_On(void)
{
	OLED_WR_Byte(0X8D,OLED_CMD);  //SET DCDC����
	OLED_WR_Byte(0X14,OLED_CMD);  //DCDC ON
	OLED_WR_Byte(0XAF,OLED_CMD);  //DISPLAY ON
}
//�ر�OLED��ʾ     
void OLED_Display_Off(void)
{
	OLED_WR_Byte(0X8D,OLED_CMD);  //SET DCDC����
	OLED_WR_Byte(0X10,OLED_CMD);  //DCDC OFF
	OLED_WR_Byte(0XAE,OLED_CMD);  //DISPLAY OFF
}		   			 
//��������,������,������Ļ�Ǻ�ɫ��!��û����һ��!!!	  
void OLED_Clear(void)  
{  
	uint8_t i,n;
	for(i=0;i<8;i++)  
	{  
		OLED_WR_Byte (0xb0+i,OLED_CMD);    //����ҳ��ַ��0~7��
		OLED_WR_Byte (0x02,OLED_CMD);      //������ʾλ�á��е͵�ַ
		OLED_WR_Byte (0x10,OLED_CMD);      //������ʾλ�á��иߵ�ַ   
		for(n=0;n<128;n++)OLED_WR_Byte(0,OLED_DATA); 
	} //������ʾ
}

void OLED_On(void)  
{  
	uint8_t i,n;
	for(i=0;i<8;i++)  
	{  
		OLED_WR_Byte (0xb0+i,OLED_CMD);    //����ҳ��ַ��0~7��
		OLED_WR_Byte (0x02,OLED_CMD);      //������ʾλ�á��е͵�ַ
		OLED_WR_Byte (0x10,OLED_CMD);      //������ʾλ�á��иߵ�ַ   
		for(n=0;n<128;n++)OLED_WR_Byte(1,OLED_DATA); 
	} //������ʾ
}
//��ָ��λ����ʾһ���ַ�,���������ַ�
//x:0~127
//y:0~63
//mode:0,������ʾ;1,������ʾ				 
//size:ѡ������ 16/12 
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size)
{      	
	unsigned char c=0,i=0;	
		c=chr-' ';//�õ�ƫ�ƺ��ֵ			
		if(x>Max_Column-1){x=0;y=y+2;}
		if(Char_Size ==16)
			{
			OLED_Set_Pos(x,y);	
			for(i=0;i<8;i++)
			OLED_WR_Byte(F8X16[c*16+i],OLED_DATA);
			OLED_Set_Pos(x,y+1);
			for(i=0;i<8;i++)
			OLED_WR_Byte(F8X16[c*16+i+8],OLED_DATA);
			}
			else {	
				OLED_Set_Pos(x,y);
				for(i=0;i<6;i++)
				OLED_WR_Byte(F6x8[c][i],OLED_DATA);
				
			}
}
//m^n����
uint32_t oled_pow(uint8_t m,uint8_t n)
{
	uint32_t result=1;
	while(n--)result*=m;    
	return result;
}				  
//��ʾ2������
//x,y :�������	 
//len :���ֵ�λ��
//size:�����С
//mode:ģʽ	0,���ģʽ;1,����ģʽ
//num:��ֵ(0~4294967295);	 		  
void OLED_ShowNum(uint8_t x,uint8_t y,uint32_t num,uint8_t len,uint8_t size2)
{         	
	uint8_t t,temp;
	uint8_t enshow=0;
	for(t=0;t120){x=0;y+=2;}
			j++;
	}
}
//��ʾ����
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no)
{      			    
	uint8_t t,adder=0;
	OLED_Set_Pos(x,y);
    for(t=0;t<16;t++)
		{
				OLED_WR_Byte(Hzk[2*no][t],OLED_DATA);
				adder+=1;
     }	
		OLED_Set_Pos(x,y+1);	
    for(t=0;t<16;t++)
			{	
				OLED_WR_Byte(Hzk[2*no+1][t],OLED_DATA);
				adder+=1;
      }					
}
/***********������������ʾ��ʾBMPͼƬ128��64��ʼ������(x,y),x�ķ�Χ0��127��yΪҳ�ķ�Χ0��7*****************/
void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[])
{ 	
 unsigned int j=0;
 unsigned char x,y;
  
  if(y1%8==0) y=y1/8;      
  else y=y1/8+1;
	for(y=y0;y

2."oled.h"

#ifndef __OLED_H
#define __OLED_H
#include "main.h"
#include "stdlib.h"
//#include "gpio.h"
#define OLED_MODE 0
#define SIZE 8
#define XLevelL		0x00
#define XLevelH		0x10
#define Max_Column	128
#define Max_Row		64
#define	Brightness	0xFF 
#define X_WIDTH 	128
#define Y_WIDTH 	64	    						  
//-----------------OLED IIC�˿ڶ���----------------  					   

#define OLED_SCLK_Clr() HAL_GPIO_WritePin(SCL_GPIO_Port,SCL_Pin,GPIO_PIN_RESET)//SCL IIC�ӿڵ�ʱ���ź�
#define OLED_SCLK_Set() HAL_GPIO_WritePin(SCL_GPIO_Port,SCL_Pin,GPIO_PIN_SET)

#define OLED_SDIN_Clr() HAL_GPIO_WritePin(SDA_GPIO_Port,SDA_Pin,GPIO_PIN_RESET)//SDA IIC�ӿڵ������ź�
#define OLED_SDIN_Set() HAL_GPIO_WritePin(SDA_GPIO_Port,SDA_Pin,GPIO_PIN_SET)

 		     
#define OLED_CMD  0	//���
#define OLED_DATA 1	//���


//OLED�����ú���
void OLED_WR_Byte(unsigned dat,unsigned cmd);  
void OLED_Display_On(void);
void OLED_Display_Off(void);	   							   		    
void OLED_Init(void);
void OLED_Clear(void);
void OLED_DrawPoint(uint8_t x,uint8_t y,uint8_t t);
void OLED_Fill(uint8_t x1,uint8_t y1,uint8_t x2,uint8_t y2,uint8_t dot);
void OLED_ShowChar(uint8_t x,uint8_t y,uint8_t chr,uint8_t Char_Size);
void OLED_ShowNum(uint8_t x,uint8_t y,uint32_t num,uint8_t len,uint8_t size);
void OLED_ShowString(uint8_t x,uint8_t y, uint8_t *p,uint8_t Char_Size);
void OLED_Set_Pos(unsigned char x, unsigned char y);
void OLED_ShowCHinese(uint8_t x,uint8_t y,uint8_t no);
void OLED_DrawBMP(unsigned char x0, unsigned char y0,unsigned char x1, unsigned char y1,unsigned char BMP[]);
void Delay_50ms(unsigned int Del_50ms);
void Delay_1ms(unsigned int Del_1ms);
void fill_picture(unsigned char fill_Data);
void Picture();
void IIC_Start();
void IIC_Stop();
void Write_IIC_Command(unsigned char IIC_Command);
void Write_IIC_Data(unsigned char IIC_Data);
void Write_IIC_Byte(unsigned char IIC_Byte);


#endif

 3."bmp.h"(表情的模

#ifndef __BMP_H
#define __BMP_H
unsigned char BMP1[] = //立正脸
        {
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,
        		0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x80,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0xF8,0xFE,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFE,0xF8,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xF0,0xF8,0xFE,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFE,0xF8,0xF0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0x3F,0xFF,0xFF,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0x3F,0x1F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x1F,0x3F,0xFF,0xFF,0xFF,
        		0xFF,0xFF,0xFF,0xFF,0xFF,0xFF,0x3F,0x1F,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x03,
        		0x03,0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,
        		0x03,0x03,0x03,0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*"C:\Users\zjyhuoer\Desktop\1.bmp",0*/
        		/* (128 X 64 )*/
        };

unsigned char BMP2[] = //前进脸
        {0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0xFF,0xFF,0xFE,0xFE,0xFC,0xFC,0xF8,0xF8,0xF0,0xF0,0xE0,0xE0,0xC0,0xC0,
        		0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x80,0x80,0xC0,0xC0,0xE0,0xE0,0xF0,0xF0,0xF8,0xF8,0xFC,0xFC,0xFE,0xFE,0xFF,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x03,0x03,0x07,0x07,0x0F,0x0F,0x1F,0x1F,0x1F,
        		0x3F,0x3F,0x7F,0x7F,0xFE,0xFE,0xFE,0xFC,0xFC,0xF8,0xF8,0xF0,0xF0,0xE0,0xE0,0xC0,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0xC0,0xC0,0xE0,0xE0,0xF0,0xF0,0xF8,0xF8,0xFC,0xFC,0xFE,0xFE,0x7F,0x7F,
        		0x3F,0x3F,0x3F,0x1F,0x1F,0x0F,0x0F,0x07,0x07,0x03,0x03,0x03,0x01,0x01,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0xC0,0xC0,0xE0,0xE0,0xF0,0xF0,0xF0,
        		0xF8,0xF8,0xFC,0xFC,0xFC,0xFE,0xFF,0x7F,0x7F,0x3F,0x3F,0x1F,0x1F,0x0F,0x0F,0x07,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x0F,0x0F,0x1F,0x1F,0x3F,0x3F,0x7F,0x7F,0xFF,0xFF,0xFC,0xFC,0xFC,0xF8,
        		0xF8,0xF0,0xF0,0xE0,0xE0,0xE0,0xC0,0xC0,0x80,0x80,0x80,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0xFE,0xFE,0xFF,0x7F,0x7F,0x7F,0x3F,0x3F,0x1F,0x1F,0x0F,0x0F,0x07,0x07,
        		0x03,0x03,0x01,0x01,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x03,0x03,
        		0x03,0x07,0x07,0x0F,0x0F,0x1F,0x1F,0x3F,0x3F,0x7F,0x7F,0xFF,0xFF,0xFE,0xFE,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x01,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
        		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*"C:\Users\zjyhuoer\Desktop\2.2.bmp",0*/
        };

unsigned char BMP3[] ={//左转脸

		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
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};

unsigned char BMP4[] ={//右转脸
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		/* (128 X 64 )*/

};

unsigned char BMP5[] ={//特殊脸

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		/* (128 X 64 )*/

};

unsigned char BMP6[] ={ //睡觉脸
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		0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,
		0x38,0x3C,0x3C,0x3C,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x3C,0x3C,0x3C,
		0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,
		0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x38,0x3C,0x3E,0x3E,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
		0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,/*"C:\Users\zjyhuoer\Desktop\9.bmp",0*/
};



#endif

4."oledfont.h"字模（其实和本项目无关，但还是要加，防止报错）

#ifndef __OLEDFONT_H
#define __OLEDFONT_H 	   
//常用ASCII表
//偏移量32
//ASCII字符集
//偏移量32
//大小:12*6
/************************************6*8的点阵************************************/
const unsigned char F6x8[][6] =		
{
0x00, 0x00, 0x00, 0x00, 0x00, 0x00,// sp
0x00, 0x00, 0x00, 0x2f, 0x00, 0x00,// !
0x00, 0x00, 0x07, 0x00, 0x07, 0x00,// "
0x00, 0x14, 0x7f, 0x14, 0x7f, 0x14,// #
0x00, 0x24, 0x2a, 0x7f, 0x2a, 0x12,// $
0x00, 0x62, 0x64, 0x08, 0x13, 0x23,// %
0x00, 0x36, 0x49, 0x55, 0x22, 0x50,// &
0x00, 0x00, 0x05, 0x03, 0x00, 0x00,// '
0x00, 0x00, 0x1c, 0x22, 0x41, 0x00,// (
0x00, 0x00, 0x41, 0x22, 0x1c, 0x00,// )
0x00, 0x14, 0x08, 0x3E, 0x08, 0x14,// *
0x00, 0x08, 0x08, 0x3E, 0x08, 0x08,// +
0x00, 0x00, 0x00, 0xA0, 0x60, 0x00,// ,
0x00, 0x08, 0x08, 0x08, 0x08, 0x08,// -
0x00, 0x00, 0x60, 0x60, 0x00, 0x00,// .
0x00, 0x20, 0x10, 0x08, 0x04, 0x02,// /
0x00, 0x3E, 0x51, 0x49, 0x45, 0x3E,// 0
0x00, 0x00, 0x42, 0x7F, 0x40, 0x00,// 1
0x00, 0x42, 0x61, 0x51, 0x49, 0x46,// 2
0x00, 0x21, 0x41, 0x45, 0x4B, 0x31,// 3
0x00, 0x18, 0x14, 0x12, 0x7F, 0x10,// 4
0x00, 0x27, 0x45, 0x45, 0x45, 0x39,// 5
0x00, 0x3C, 0x4A, 0x49, 0x49, 0x30,// 6
0x00, 0x01, 0x71, 0x09, 0x05, 0x03,// 7
0x00, 0x36, 0x49, 0x49, 0x49, 0x36,// 8
0x00, 0x06, 0x49, 0x49, 0x29, 0x1E,// 9
0x00, 0x00, 0x36, 0x36, 0x00, 0x00,// :
0x00, 0x00, 0x56, 0x36, 0x00, 0x00,// ;
0x00, 0x08, 0x14, 0x22, 0x41, 0x00,// <
0x00, 0x14, 0x14, 0x14, 0x14, 0x14,// =
0x00, 0x00, 0x41, 0x22, 0x14, 0x08,// >
0x00, 0x02, 0x01, 0x51, 0x09, 0x06,// ?
0x00, 0x32, 0x49, 0x59, 0x51, 0x3E,// @
0x00, 0x7C, 0x12, 0x11, 0x12, 0x7C,// A
0x00, 0x7F, 0x49, 0x49, 0x49, 0x36,// B
0x00, 0x3E, 0x41, 0x41, 0x41, 0x22,// C
0x00, 0x7F, 0x41, 0x41, 0x22, 0x1C,// D
0x00, 0x7F, 0x49, 0x49, 0x49, 0x41,// E
0x00, 0x7F, 0x09, 0x09, 0x09, 0x01,// F
0x00, 0x3E, 0x41, 0x49, 0x49, 0x7A,// G
0x00, 0x7F, 0x08, 0x08, 0x08, 0x7F,// H
0x00, 0x00, 0x41, 0x7F, 0x41, 0x00,// I
0x00, 0x20, 0x40, 0x41, 0x3F, 0x01,// J
0x00, 0x7F, 0x08, 0x14, 0x22, 0x41,// K
0x00, 0x7F, 0x40, 0x40, 0x40, 0x40,// L
0x00, 0x7F, 0x02, 0x0C, 0x02, 0x7F,// M
0x00, 0x7F, 0x04, 0x08, 0x10, 0x7F,// N
0x00, 0x3E, 0x41, 0x41, 0x41, 0x3E,// O
0x00, 0x7F, 0x09, 0x09, 0x09, 0x06,// P
0x00, 0x3E, 0x41, 0x51, 0x21, 0x5E,// Q
0x00, 0x7F, 0x09, 0x19, 0x29, 0x46,// R
0x00, 0x46, 0x49, 0x49, 0x49, 0x31,// S
0x00, 0x01, 0x01, 0x7F, 0x01, 0x01,// T
0x00, 0x3F, 0x40, 0x40, 0x40, 0x3F,// U
0x00, 0x1F, 0x20, 0x40, 0x20, 0x1F,// V
0x00, 0x3F, 0x40, 0x38, 0x40, 0x3F,// W
0x00, 0x63, 0x14, 0x08, 0x14, 0x63,// X
0x00, 0x07, 0x08, 0x70, 0x08, 0x07,// Y
0x00, 0x61, 0x51, 0x49, 0x45, 0x43,// Z
0x00, 0x00, 0x7F, 0x41, 0x41, 0x00,// [
0x00, 0x55, 0x2A, 0x55, 0x2A, 0x55,// 55
0x00, 0x00, 0x41, 0x41, 0x7F, 0x00,// ]
0x00, 0x04, 0x02, 0x01, 0x02, 0x04,// ^
0x00, 0x40, 0x40, 0x40, 0x40, 0x40,// _
0x00, 0x00, 0x01, 0x02, 0x04, 0x00,// '
0x00, 0x20, 0x54, 0x54, 0x54, 0x78,// a
0x00, 0x7F, 0x48, 0x44, 0x44, 0x38,// b
0x00, 0x38, 0x44, 0x44, 0x44, 0x20,// c
0x00, 0x38, 0x44, 0x44, 0x48, 0x7F,// d
0x00, 0x38, 0x54, 0x54, 0x54, 0x18,// e
0x00, 0x08, 0x7E, 0x09, 0x01, 0x02,// f
0x00, 0x18, 0xA4, 0xA4, 0xA4, 0x7C,// g
0x00, 0x7F, 0x08, 0x04, 0x04, 0x78,// h
0x00, 0x00, 0x44, 0x7D, 0x40, 0x00,// i
0x00, 0x40, 0x80, 0x84, 0x7D, 0x00,// j
0x00, 0x7F, 0x10, 0x28, 0x44, 0x00,// k
0x00, 0x00, 0x41, 0x7F, 0x40, 0x00,// l
0x00, 0x7C, 0x04, 0x18, 0x04, 0x78,// m
0x00, 0x7C, 0x08, 0x04, 0x04, 0x78,// n
0x00, 0x38, 0x44, 0x44, 0x44, 0x38,// o
0x00, 0xFC, 0x24, 0x24, 0x24, 0x18,// p
0x00, 0x18, 0x24, 0x24, 0x18, 0xFC,// q
0x00, 0x7C, 0x08, 0x04, 0x04, 0x08,// r
0x00, 0x48, 0x54, 0x54, 0x54, 0x20,// s
0x00, 0x04, 0x3F, 0x44, 0x40, 0x20,// t
0x00, 0x3C, 0x40, 0x40, 0x20, 0x7C,// u
0x00, 0x1C, 0x20, 0x40, 0x20, 0x1C,// v
0x00, 0x3C, 0x40, 0x30, 0x40, 0x3C,// w
0x00, 0x44, 0x28, 0x10, 0x28, 0x44,// x
0x00, 0x1C, 0xA0, 0xA0, 0xA0, 0x7C,// y
0x00, 0x44, 0x64, 0x54, 0x4C, 0x44,// z
0x14, 0x14, 0x14, 0x14, 0x14, 0x14,// horiz lines
};
/****************************************8*16的点阵************************************/
const unsigned char F8X16[]=	  
{
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,// 0
  0x00,0x00,0x00,0xF8,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x33,0x30,0x00,0x00,0x00,//! 1
  0x00,0x10,0x0C,0x06,0x10,0x0C,0x06,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//" 2
  0x40,0xC0,0x78,0x40,0xC0,0x78,0x40,0x00,0x04,0x3F,0x04,0x04,0x3F,0x04,0x04,0x00,//# 3
  0x00,0x70,0x88,0xFC,0x08,0x30,0x00,0x00,0x00,0x18,0x20,0xFF,0x21,0x1E,0x00,0x00,//$ 4
  0xF0,0x08,0xF0,0x00,0xE0,0x18,0x00,0x00,0x00,0x21,0x1C,0x03,0x1E,0x21,0x1E,0x00,//% 5
  0x00,0xF0,0x08,0x88,0x70,0x00,0x00,0x00,0x1E,0x21,0x23,0x24,0x19,0x27,0x21,0x10,//& 6
  0x10,0x16,0x0E,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//' 7
  0x00,0x00,0x00,0xE0,0x18,0x04,0x02,0x00,0x00,0x00,0x00,0x07,0x18,0x20,0x40,0x00,//( 8
  0x00,0x02,0x04,0x18,0xE0,0x00,0x00,0x00,0x00,0x40,0x20,0x18,0x07,0x00,0x00,0x00,//) 9
  0x40,0x40,0x80,0xF0,0x80,0x40,0x40,0x00,0x02,0x02,0x01,0x0F,0x01,0x02,0x02,0x00,//* 10
  0x00,0x00,0x00,0xF0,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x1F,0x01,0x01,0x01,0x00,//+ 11
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0xB0,0x70,0x00,0x00,0x00,0x00,0x00,//, 12
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x01,0x01,0x01,0x01,0x01,0x01,//- 13
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,0x00,0x00,//. 14
  0x00,0x00,0x00,0x00,0x80,0x60,0x18,0x04,0x00,0x60,0x18,0x06,0x01,0x00,0x00,0x00,/// 15
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x0F,0x10,0x20,0x20,0x10,0x0F,0x00,//0 16
  0x00,0x10,0x10,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//1 17
  0x00,0x70,0x08,0x08,0x08,0x88,0x70,0x00,0x00,0x30,0x28,0x24,0x22,0x21,0x30,0x00,//2 18
  0x00,0x30,0x08,0x88,0x88,0x48,0x30,0x00,0x00,0x18,0x20,0x20,0x20,0x11,0x0E,0x00,//3 19
  0x00,0x00,0xC0,0x20,0x10,0xF8,0x00,0x00,0x00,0x07,0x04,0x24,0x24,0x3F,0x24,0x00,//4 20
  0x00,0xF8,0x08,0x88,0x88,0x08,0x08,0x00,0x00,0x19,0x21,0x20,0x20,0x11,0x0E,0x00,//5 21
  0x00,0xE0,0x10,0x88,0x88,0x18,0x00,0x00,0x00,0x0F,0x11,0x20,0x20,0x11,0x0E,0x00,//6 22
  0x00,0x38,0x08,0x08,0xC8,0x38,0x08,0x00,0x00,0x00,0x00,0x3F,0x00,0x00,0x00,0x00,//7 23
  0x00,0x70,0x88,0x08,0x08,0x88,0x70,0x00,0x00,0x1C,0x22,0x21,0x21,0x22,0x1C,0x00,//8 24
  0x00,0xE0,0x10,0x08,0x08,0x10,0xE0,0x00,0x00,0x00,0x31,0x22,0x22,0x11,0x0F,0x00,//9 25
  0x00,0x00,0x00,0xC0,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x30,0x30,0x00,0x00,0x00,//: 26
  0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x60,0x00,0x00,0x00,0x00,//; 27
  0x00,0x00,0x80,0x40,0x20,0x10,0x08,0x00,0x00,0x01,0x02,0x04,0x08,0x10,0x20,0x00,//< 28
  0x40,0x40,0x40,0x40,0x40,0x40,0x40,0x00,0x04,0x04,0x04,0x04,0x04,0x04,0x04,0x00,//= 29
  0x00,0x08,0x10,0x20,0x40,0x80,0x00,0x00,0x00,0x20,0x10,0x08,0x04,0x02,0x01,0x00,//> 30
  0x00,0x70,0x48,0x08,0x08,0x08,0xF0,0x00,0x00,0x00,0x00,0x30,0x36,0x01,0x00,0x00,//? 31
  0xC0,0x30,0xC8,0x28,0xE8,0x10,0xE0,0x00,0x07,0x18,0x27,0x24,0x23,0x14,0x0B,0x00,//@ 32
  0x00,0x00,0xC0,0x38,0xE0,0x00,0x00,0x00,0x20,0x3C,0x23,0x02,0x02,0x27,0x38,0x20,//A 33
  0x08,0xF8,0x88,0x88,0x88,0x70,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x11,0x0E,0x00,//B 34
  0xC0,0x30,0x08,0x08,0x08,0x08,0x38,0x00,0x07,0x18,0x20,0x20,0x20,0x10,0x08,0x00,//C 35
  0x08,0xF8,0x08,0x08,0x08,0x10,0xE0,0x00,0x20,0x3F,0x20,0x20,0x20,0x10,0x0F,0x00,//D 36
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x20,0x23,0x20,0x18,0x00,//E 37
  0x08,0xF8,0x88,0x88,0xE8,0x08,0x10,0x00,0x20,0x3F,0x20,0x00,0x03,0x00,0x00,0x00,//F 38
  0xC0,0x30,0x08,0x08,0x08,0x38,0x00,0x00,0x07,0x18,0x20,0x20,0x22,0x1E,0x02,0x00,//G 39
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x20,0x3F,0x21,0x01,0x01,0x21,0x3F,0x20,//H 40
  0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//I 41
  0x00,0x00,0x08,0x08,0xF8,0x08,0x08,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,0x00,//J 42
  0x08,0xF8,0x88,0xC0,0x28,0x18,0x08,0x00,0x20,0x3F,0x20,0x01,0x26,0x38,0x20,0x00,//K 43
  0x08,0xF8,0x08,0x00,0x00,0x00,0x00,0x00,0x20,0x3F,0x20,0x20,0x20,0x20,0x30,0x00,//L 44
  0x08,0xF8,0xF8,0x00,0xF8,0xF8,0x08,0x00,0x20,0x3F,0x00,0x3F,0x00,0x3F,0x20,0x00,//M 45
  0x08,0xF8,0x30,0xC0,0x00,0x08,0xF8,0x08,0x20,0x3F,0x20,0x00,0x07,0x18,0x3F,0x00,//N 46
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x10,0x20,0x20,0x20,0x10,0x0F,0x00,//O 47
  0x08,0xF8,0x08,0x08,0x08,0x08,0xF0,0x00,0x20,0x3F,0x21,0x01,0x01,0x01,0x00,0x00,//P 48
  0xE0,0x10,0x08,0x08,0x08,0x10,0xE0,0x00,0x0F,0x18,0x24,0x24,0x38,0x50,0x4F,0x00,//Q 49
  0x08,0xF8,0x88,0x88,0x88,0x88,0x70,0x00,0x20,0x3F,0x20,0x00,0x03,0x0C,0x30,0x20,//R 50
  0x00,0x70,0x88,0x08,0x08,0x08,0x38,0x00,0x00,0x38,0x20,0x21,0x21,0x22,0x1C,0x00,//S 51
  0x18,0x08,0x08,0xF8,0x08,0x08,0x18,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//T 52
  0x08,0xF8,0x08,0x00,0x00,0x08,0xF8,0x08,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//U 53
  0x08,0x78,0x88,0x00,0x00,0xC8,0x38,0x08,0x00,0x00,0x07,0x38,0x0E,0x01,0x00,0x00,//V 54
  0xF8,0x08,0x00,0xF8,0x00,0x08,0xF8,0x00,0x03,0x3C,0x07,0x00,0x07,0x3C,0x03,0x00,//W 55
  0x08,0x18,0x68,0x80,0x80,0x68,0x18,0x08,0x20,0x30,0x2C,0x03,0x03,0x2C,0x30,0x20,//X 56
  0x08,0x38,0xC8,0x00,0xC8,0x38,0x08,0x00,0x00,0x00,0x20,0x3F,0x20,0x00,0x00,0x00,//Y 57
  0x10,0x08,0x08,0x08,0xC8,0x38,0x08,0x00,0x20,0x38,0x26,0x21,0x20,0x20,0x18,0x00,//Z 58
  0x00,0x00,0x00,0xFE,0x02,0x02,0x02,0x00,0x00,0x00,0x00,0x7F,0x40,0x40,0x40,0x00,//[ 59
  0x00,0x0C,0x30,0xC0,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x01,0x06,0x38,0xC0,0x00,//\ 60
  0x00,0x02,0x02,0x02,0xFE,0x00,0x00,0x00,0x00,0x40,0x40,0x40,0x7F,0x00,0x00,0x00,//] 61
  0x00,0x00,0x04,0x02,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//^ 62
  0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x80,//_ 63
  0x00,0x02,0x02,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//` 64
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x19,0x24,0x22,0x22,0x22,0x3F,0x20,//a 65
  0x08,0xF8,0x00,0x80,0x80,0x00,0x00,0x00,0x00,0x3F,0x11,0x20,0x20,0x11,0x0E,0x00,//b 66
  0x00,0x00,0x00,0x80,0x80,0x80,0x00,0x00,0x00,0x0E,0x11,0x20,0x20,0x20,0x11,0x00,//c 67
  0x00,0x00,0x00,0x80,0x80,0x88,0xF8,0x00,0x00,0x0E,0x11,0x20,0x20,0x10,0x3F,0x20,//d 68
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x22,0x22,0x22,0x22,0x13,0x00,//e 69
  0x00,0x80,0x80,0xF0,0x88,0x88,0x88,0x18,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//f 70
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x6B,0x94,0x94,0x94,0x93,0x60,0x00,//g 71
  0x08,0xF8,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//h 72
  0x00,0x80,0x98,0x98,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//i 73
  0x00,0x00,0x00,0x80,0x98,0x98,0x00,0x00,0x00,0xC0,0x80,0x80,0x80,0x7F,0x00,0x00,//j 74
  0x08,0xF8,0x00,0x00,0x80,0x80,0x80,0x00,0x20,0x3F,0x24,0x02,0x2D,0x30,0x20,0x00,//k 75
  0x00,0x08,0x08,0xF8,0x00,0x00,0x00,0x00,0x00,0x20,0x20,0x3F,0x20,0x20,0x00,0x00,//l 76
  0x80,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x20,0x3F,0x20,0x00,0x3F,0x20,0x00,0x3F,//m 77
  0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x3F,0x21,0x00,0x00,0x20,0x3F,0x20,//n 78
  0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x00,0x1F,0x20,0x20,0x20,0x20,0x1F,0x00,//o 79
  0x80,0x80,0x00,0x80,0x80,0x00,0x00,0x00,0x80,0xFF,0xA1,0x20,0x20,0x11,0x0E,0x00,//p 80
  0x00,0x00,0x00,0x80,0x80,0x80,0x80,0x00,0x00,0x0E,0x11,0x20,0x20,0xA0,0xFF,0x80,//q 81
  0x80,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x20,0x20,0x3F,0x21,0x20,0x00,0x01,0x00,//r 82
  0x00,0x00,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x33,0x24,0x24,0x24,0x24,0x19,0x00,//s 83
  0x00,0x80,0x80,0xE0,0x80,0x80,0x00,0x00,0x00,0x00,0x00,0x1F,0x20,0x20,0x00,0x00,//t 84
  0x80,0x80,0x00,0x00,0x00,0x80,0x80,0x00,0x00,0x1F,0x20,0x20,0x20,0x10,0x3F,0x20,//u 85
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x00,0x01,0x0E,0x30,0x08,0x06,0x01,0x00,//v 86
  0x80,0x80,0x00,0x80,0x00,0x80,0x80,0x80,0x0F,0x30,0x0C,0x03,0x0C,0x30,0x0F,0x00,//w 87
  0x00,0x80,0x80,0x00,0x80,0x80,0x80,0x00,0x00,0x20,0x31,0x2E,0x0E,0x31,0x20,0x00,//x 88
  0x80,0x80,0x80,0x00,0x00,0x80,0x80,0x80,0x80,0x81,0x8E,0x70,0x18,0x06,0x01,0x00,//y 89
  0x00,0x80,0x80,0x80,0x80,0x80,0x80,0x00,0x00,0x21,0x30,0x2C,0x22,0x21,0x30,0x00,//z 90
  0x00,0x00,0x00,0x00,0x80,0x7C,0x02,0x02,0x00,0x00,0x00,0x00,0x00,0x3F,0x40,0x40,//{ 91
  0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0xFF,0x00,0x00,0x00,//| 92
  0x00,0x02,0x02,0x7C,0x80,0x00,0x00,0x00,0x00,0x40,0x40,0x3F,0x00,0x00,0x00,0x00,//} 93
  0x00,0x06,0x01,0x01,0x02,0x02,0x04,0x04,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,//~ 94
};
char Hzk[][32]={

        {0x00,0x00,0x20,0x20,0xE0,0x20,0x10,0x40,0x40,0xC0,0x7C,0x40,0x20,0xE0,0x00,0x00},
        {0x00,0x04,0x04,0x04,0x03,0x22,0x12,0x09,0x04,0x03,0x30,0x30,0x1E,0x01,0x00,0x00},/*"功",0*/
/* (16 X 16 , 楷体 )*/

        {0x00,0x00,0x00,0x30,0xE8,0x44,0xC0,0x40,0xF0,0x5E,0xCA,0x28,0xA0,0x60,0x00,0x00},
        {0x00,0x04,0x02,0x7F,0x00,0x20,0x18,0x11,0x25,0x4D,0x4A,0x43,0x54,0x64,0x0C,0x00},/*"德",1*/
/* (16 X 16 , 楷体 )*/

};

#endif

 尾巴：

接线图：

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第13张图片

小机器狗的运动步态我也是参考b站大佬的作品（原视频：【步态详解】人人都可制作的WiFi遥控迷你四足机器人_哔哩哔哩_bilibili

开源！自制一个桌面宠物（STM32CUBEMX HAL库 PWM波 小项目）_第14张图片

他做得比我好，且也开源>-< 

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