基于stm32f103c8t6 mcu和树莓派4b的仿生机器鱼 运动模块胸鳍舵机和尾鳍舵机，TIM产生PWM波控制舵机 无线通信模块HC12，串口UART 避障模块红外，ADC采集 平衡模块陀螺仪mpu6090，IIC通信 视觉模块树莓派
深圳大学机电与控制工程学院仿生机器海豚项目
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