【正文】 ll be traveling fast, so despite the distance, it will not be like diving into the 基于單片機的智能小車設計22deep end of a pool. It will be like he is diving into the shallow end. Skydiver preps for the big jumpWhen he jumps, he is expected to reach the speed of sound 690 mph (1,110 kph) in less than 40 seconds. Like hitting the top of the water, he will begin to slow as he approaches the more dense air closer to Earth. But this will not be enough to stop him pletely.If he goes too fast or spins out of control, he has a stabilization parachute that can be deployed to slow him down. His team hopes it39。 Have declared the end of the encounter that haven39。那些曾經所謂的非做不可，只是青蔥年華里自己給自己注射的一支強心劑，或者說，是自以為是的精神寄托罷了。s time, your ideas are always special to clear. Want, want, line is clear, as if nothing could shake his. Also once seemed to be determined to do something, but more often is he backed out at last. Dislike his cowardice, finally found that there are a lot of love, there are a lot of miss, like shadow really have been doomed. Those who do, just green years oneself give oneself an arm injection, or is a selfrighteous spiritual.　 　 一個人的時候，自己的想法總是特別地清晰。t want to give vent to out your inner voice can be in the high school children of the feelings in a period, but was eventually infarction when graduation party in the throat, later again stood on the pitch he has sweat profusely, looked at his thrown a basketball hoops, suddenly found himself has already can39。The end of our life, and can meet many things really do?　 　 而窮盡我們的一生，又能遇到多少事情是真正地非做不可？During my childhood, think lucky money and new clothes are necessary for New Year, but as the advance of the age, will be more and more found that those things are optional。 May be back in the past, to oneself the paranoid weird belief disillusionment, these days, my mind has been very messy, in my mind constantly. Always feel oneself should go to do something, or write something. Twenty years of life trajectory deeply shallow, suddenly feel something, do it.　 　 一字開頭的年齡已經到了尾聲。s 21 win.Michel Platini, president of European football39。s antiracism taskforce, is in London for the Football Association39。t agree with the disciplinary action your employer has taken against you? your employer dismisses you and you think that you have been dismissed unfairly.For more information about dismissal and unfair dismissal, see Dismissal.You can make a claim to an employment tribunal, even if you haven39。在設計過程中，老師給予了悉心的指導，最重要的是給了我解決問題的思路和方法，并且在設計環(huán)境和器材方面給予了大力的幫助和支持，在此，我對老師表示最真摯的感謝。這三個月的設計是對過去所學知識的系統(tǒng)提高和擴充過程,為今后的發(fā)展打下了良好的基礎。經過自己不斷的努力以及老師的耐心指導和熱情幫助，本設計已經基本完成。 （3）自動檢測停車線并自動停車。本系統(tǒng)能實現(xiàn)如下功能： （1） 自動沿預設軌道行駛小車在行駛過程中，能夠自動檢測預先設好的軌道，實現(xiàn)直道和弧形軌道的前進。amp。P12==0) { P14=0,P15=1,P16=0,P17=1。//直走}if(P10==1amp。amp。P11==0amp。P12==0) //右中測 左走{ P14=0,P15=1,P16=1,P17=0。 } if(P10==1amp。P11==0amp。amp。 }} 避障模塊避障框圖如圖 所示。break。 if(P10==0||P11==0) //進入壁障標志口 dr=4。amp。P26==1amp。amp。 主程序框圖河北化工醫(yī)藥職業(yè)技術學院畢業(yè)論文 13圖 主程序框圖 循跡模塊循跡框圖如圖 所示。過程控制程序主要是使單片機按一定的方法進行計算，然后再輸出，以便控制生產。因此，軟件設計在微機控制系統(tǒng)設計中占重要地位。IN1~ IN4：輸入端，輸入端電平和輸出端電平是對應的。GND：共地接法。（4）可編程輸入/輸出引腳（32 根）STC89C52 單片機有 4 組 8 位的可編程 I/O 口，分別位 P0、PPP3 口，每個口有 8位（8 根引腳） ，共 32 根。該器件采用 ATMEL 搞密度非易失存儲器制造技術制造，與工業(yè)標準的 MCS51 指令集和輸出管腳相兼容。圖 驅動原理圖河北化工醫(yī)藥職業(yè)技術學院畢業(yè)論文 9圖 循跡原理圖 主控電路的設計與原理分析 本模塊主要是對采集信號進行分析，同時控制電機，起停。在小車行駛過程中不斷地向地面發(fā)射紅外光，當紅外光遇到白色地面時發(fā)生漫發(fā)射，反射光被裝在小車上的接收管接收；如果遇到黑線則紅外光被吸收，則小車上的接收管接收不到信號，再通過 LM324 作比較器來采集高低電平，從而實現(xiàn)信號的檢測。 在 L298N 的輸出端分別正確的接上小車的左右兩個直流電機，通過 L298N 的輸出電流控制左右兩個直流電機的停止或者前進，例如左輪不轉右輪向前就做左轉的動作，右輪不轉左輪向前就做右轉的動作，如圖 和圖 所示。1 腳和 15 腳下管的發(fā)射極分別單獨引出以便接入電流采樣電阻，形成電流傳感信號。 L298N 芯片可以驅動兩個二相電機，也可以驅動一個四相電機，輸出電壓最高可達50V，可以直接通過電源來調節(jié)輸出電壓；可以直接用單片機的 IO 口提供信號；而且電路簡單，使用比較方便。通過測試此種方案就能很好的實現(xiàn)小車避開障礙物，且充分的利用資源而不浪費。因此決定采用使用功率三極管作為功率放大器的輸出控制直流電機。