<div class="document"> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 1、项目功能介绍</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">该小车是基于stm32f103c8t6的多功能小车，拥有避障功能、蓝牙遥控模式以及寻迹模式，PCB上引出8个IO口可以进行二次开发。</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*2、项目属性</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">该项目为首次公开，由本人原创，目前没有在其他比赛获奖</span></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 3、开源协议</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">GPL3.0开源协议</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*4、硬件部分</h3> <p>电路原理图如下图所示</p> <p><img src="//image.lceda.cn/pullimage/07vfPzecNOCwMloYbtydsQ7mCtEMA22ChgLoae8a.png" alt="电路原理图" width="1165" height="783">PCB如下图所示</p> <p><img src="//image.lceda.cn/pullimage/fTBt7PG5vd5GaG5m1SfwRu7SguB1jPlLCcDbPJi8.png" alt="pcb" width="844" height="654">电路原理图与PCB文件请看附件。</p> <p>小车正面图：</p> <p><img src="//image.lceda.cn/pullimage/dEOfg8m4NWhjL3OQM4ivqQGnpCyfhNBmHuIfZhqn.jpeg" alt="小车" width="643" height="857">小车俯视图</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/cZA7Faqwx492LaZHfFcYm2CHjpj2RBPpLDvSOUEp.jpeg" alt="" width="645" height="860">本小车使用4个520编码器电机，4个麦克纳姆轮，一块stm32f103c8t6最小系统板，一个HC-05蓝牙模块，一个hsr04超声波模块，一个稳压模块，一块0.96寸OLED显示屏，两块TB6612电机驱动模块，一块1500毫安的锂电池，一个感为8路灰度传感器，一块MPU6050(在本次项目没有使用到）。</p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*5、软件部分</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">蓝牙串口通信部分代码，设置全局变量用于判断</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/NxklZAn7ZcPq9zMPYsHl5luEpl2K9MflyLpfsrwc.png" alt="串口通信" width="1547" height="524">寻迹函数部分代码，寻迹部分使用差速寻迹，没有使用复杂的pid算法，适合初学者学习，使用的是灰度传感器，当识别到黑色时返回低电平，判断也与蓝牙串口通信类似</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/ipRB2JH5WHzASmvrk4bvLShxkcEFyRVPLfUNs7pn.png" alt="寻迹" width="483" height="387"><img src="//image.lceda.cn/pullimage/A1d9ssEWi0R3FQcFNpkWDINCuPG8fuA0WHvhsZGm.png" alt="寻迹" width="477" height="405">控制部分核心代码，写在陀螺仪中断里面的，因为代码是基于之前做的平衡车改的</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/QLlhrEjcrxm2dulxDXcH4nQ3zWAnFD62t6wmKMhJ.png" alt="控制" width="568" height="458"><img src="//image.lceda.cn/pullimage/aTk7sTD3r1pl1QWVjBdeXCtliqRsOEKLuMKWXbRS.png" alt="" width="550" height="490">核心代码如上述所示，逻辑较为简单，方便读者复刻。</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;">手机蓝牙控制界面如下所示，蓝牙调试器app已放在附件。</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/sbzFIEyqnfbxbocUyuf3ZSZDbLpeRncF2C1NeexO.jpeg" alt="" width="644" height="1396"></p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*6、BOM清单</h3> <hr class="horizontal-splitline normal-bold-2"> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">项目的物料清单如下所示，具体清单见附件</p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/tu8hRLr3FiXCWipNV4H9RUNbAmGCxi0vKhk0D6Bp.png" alt="bom" width="1470" height="333"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*7、大赛LOGO验证</h3> <hr class="horizontal-splitline normal-bold-2"> <p style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/N8aW5cFZf4TvmglQPLPn8GjodDOyx1T8HOY7yioZ.jpeg" alt="log" width="1702" height="1276"></p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> <p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p> </div>