STM32F103C8T6四轴机械臂完整控制源码包:含FreeRTOS多任务调度、蓝牙/摇杆/示教器三模操控

上传者: wdx0123456 | 上传时间: 2026-06-03 15:43:31 | 文件大小: 635KB | 文件类型: ZIP
这套资源提供基于STM32F103C8T6芯片的四轴机械臂全功能控制代码,开发环境为Keil5配合CubeMX生成底层驱动。核心采用FreeRTOS实现多任务协同,支持三种独立控制方式:通过HC-05类蓝牙模块接收手机指令、接入模拟摇杆进行实时手动操控、连接自定义示教器完成动作录制与回放。代码结构清晰分层,包含裸机基础测试验证、链表与数组双版本动作存储逻辑、可切换的动作记忆模式(仅记录不执行)、以及最终整合后的稳定FreeRTOS工程。所有控制逻辑均围绕四路PWM舵机驱动展开,适配常见MG996R等标准舵机,动作数据支持断电保存至内部Flash。配套硬件清单与接线说明已在作者CSDN博客中详细列出,便于快速复现整机系统。

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