Design of automatic goldfish feeding robot based on GD32E231

If you are away from home for a long time on a business trip, the goldfish at home will starve. Therefore, in order to prevent goldfish from starving when the owner is not at home, an automatic feeding robot was designed based on a 4-degree-of-freedom robotic arm and GD32E231.
GD32E231 controls the robotic arm by generating PWM. At the same time, it picks up fish food from a fixed place and puts it into the fish tank according to the preset time. Through multiple manual trainings, the robotic arm automatically calculates the feeding based on the manual training data. eating position.
At the same time, you can also add some auxiliary functions. You can roughly obtain the internal temperature of GD32E231 and the lighting conditions around the fish tank through the serial port or onboard ADC and photoresistor. You can turn on lighting equipment such as desk lamps when it is dark.
This system uses the following functions of GD32E231:
1. UART high-performance asynchronous communication interface
2. GPIO general input and output interface
3. 72MHz main frequency
4. RTC real-time clock
5. Timer0 timer triggers DMA transmission
6. DMA transmission
7. Timer2 startup Four-channel PWM to connect the robotic arm
8. External interrupt ETI
9. ADC internal analog-to-digital conversion
Judging from the actual test results and the specific operation of the modules used in the project advancement process, the GD32E231 processor has a powerful timer function. 2 can output 4 channels of PWM, and the ADC function is also very practical and can be used for ordinary robot applications.