【正文】 =0。i++) //右輪停轉(zhuǎn) 用于修正兩電機(jī)速度不匹配問題 { R_L=0。 } if((voice_flag==1)amp。(Int0count%10==0)) { for(i=0。i++) //左輪停轉(zhuǎn) 用于修正兩電機(jī)速度不匹配問題 { L_L=0。 } if(Int0count100) //500usx100=50ms { 28 Int0count=0。 } } 29 第五章 調(diào)試 Protel99SE 簡介 Protel99SE[14]是澳大利亞 ProtelTechnology 公司推出的一個(gè)全 32位的電路板設(shè)計(jì)軟件。 Protel99SE 按照系統(tǒng)功能來劃分， Protel99se 主要包含以下倆大部分和 6個(gè)功能模塊。本系統(tǒng)的主要功能是：繪制、修改和編輯電路原理圖；更新和修改電路圖零件庫；查看 和編輯有關(guān)電路圖和零件庫的各種報(bào)表。本系統(tǒng)的主要功能是：繪制、修改和編輯電路板；更新和修改零件封裝；管理電路板組件。 2. 電路仿真與 PLD 部分 (1)電路模擬仿真系統(tǒng)（ Advanced SIM 99）：電路模擬仿真系統(tǒng)包含一個(gè)數(shù)字/模擬信號仿真器，可提供連續(xù)的數(shù)字信號和模擬信號，以便對電路原理圖進(jìn)行信號模擬仿真，從而驗(yàn)證其正確性和可行性。本系統(tǒng)的主要功能是； 30 對邏輯電路進(jìn)行分析、綜合；觀察信號的波形。 (3)高級信號完整性分析系統(tǒng)（ Advanced Integrity 99）：信號完整性分析系統(tǒng)提供了一個(gè)精確的信號完整性模擬器，可用來分析 PCB設(shè)計(jì)、檢查電路設(shè)計(jì)參數(shù)、實(shí)驗(yàn)超調(diào)量、阻 抗和信號諧波要求等。 經(jīng)過初步的分析設(shè)計(jì)后，在制作硬件電路的同時(shí)，調(diào)試也在穿插進(jìn)行。 硬件調(diào)試 聲音檢測調(diào)試 測試方法：將小車放在空曠平地，打開小車電源，不斷拍手并觀看小車運(yùn)行狀態(tài)。 測試效果圖請看附錄二。 測試結(jié)果：小車在正常運(yùn)行時(shí)發(fā)動(dòng)機(jī)轉(zhuǎn)速不匹配，走出了曲線，通過在軟件程序里加入一些修正轉(zhuǎn)速的小程序還是無法修正轉(zhuǎn)速，固智能暫時(shí)放棄修正轉(zhuǎn)速。 31 測試結(jié)果：大多數(shù)情況下小車均能檢測到障礙物并實(shí)現(xiàn)避障，但遇到黑色物體時(shí)無法檢測到，因?yàn)楹谏矬w能很好的吸收紅外線，所以無法檢測到，紅外避障功能基本能實(shí)現(xiàn)。 32 第六章 總結(jié)與展望 結(jié) 論 歷經(jīng)幾個(gè)月的畢業(yè)設(shè)計(jì)，從最初的資料查找、方案設(shè)計(jì)，經(jīng)過最基本的電路設(shè)計(jì)、調(diào)試過程，再到軟件設(shè)計(jì)、測試，我學(xué)習(xí)了單片機(jī)系統(tǒng)設(shè)計(jì)的整個(gè)過程。 測試結(jié)果表明，本系統(tǒng)實(shí)現(xiàn)了設(shè)計(jì)任務(wù)要求，小車采集紅外傳感器信號探測障礙物，聲音檢測模塊探測信號，并根據(jù)單片機(jī)控制模塊的分析結(jié)果決策和控制下一步的運(yùn)動(dòng)形式。 本設(shè)計(jì)使用模塊化的設(shè)計(jì)方法。通過這次畢業(yè)設(shè)計(jì)，使我深刻的理解到學(xué)好專業(yè)知識(shí)的重要性，也理解了為什么要理論結(jié)合實(shí)際，同時(shí)也是我對大學(xué)四年學(xué)習(xí)成果的一個(gè)綜合檢驗(yàn)。 33 致謝 歷時(shí)幾個(gè)月的畢業(yè)設(shè)計(jì)已經(jīng)告一段落。在這段時(shí)間里，楊老師嚴(yán)謹(jǐn)?shù)闹螌W(xué)態(tài)度和熱忱的工作作風(fēng)令我十分欽佩，他的指導(dǎo)使我對整個(gè) 畢業(yè)設(shè)計(jì)的思路有了總體的把握，并耐心的幫我解決了許多實(shí)際問題，使我有了很大收獲，本論文也是在楊老師的指導(dǎo)下修改完成的。 通過這次畢業(yè)設(shè)計(jì)，我深刻地認(rèn)識(shí)到了學(xué)好專業(yè)知識(shí)的重要性，也理解了理論聯(lián)系實(shí)際的含義，并且檢驗(yàn)了大學(xué)四年的學(xué)習(xí)成果。雖然在這次設(shè)計(jì)中對于知識(shí)的運(yùn)用和銜接還不夠熟練，但是我將在以后的工作和學(xué)習(xí)中繼續(xù)努力、不斷完善。 34 參考文獻(xiàn) [1]郭惠，吳迅 .單片機(jī) C 語言程序設(shè)計(jì)完全自學(xué)手冊 [M].電子工業(yè)出版社 ,： 1200. [2]王東鋒，王會(huì)良，董冠強(qiáng) . 單片機(jī) C 語言應(yīng)用 100 例 [M]. 電子工業(yè)出版社 ,： 145300. [3]韓毅，楊天 . 基于 HCS12 單片機(jī)的智能尋跡模型車的設(shè)計(jì)與實(shí)現(xiàn) [J].學(xué)術(shù)期刊， 2021， 29（ 18）： 15351955. [4] 王曉明 . 電動(dòng)機(jī)的單片機(jī)控制 [J]. 學(xué)術(shù)期刊， 2021， 13（ 15）： 13221755. [5] 鮑小南 .單片機(jī)基礎(chǔ) . [6] 徐麗香 .模擬電子技術(shù) . [7] 徐麗香 .黎旺星 .數(shù)字電子技術(shù) . [8] 譚浩強(qiáng) .C 語言程序設(shè)計(jì) .2版 . [9] 王靜霞 .《單片機(jī)應(yīng)用技術(shù) (C 語言版 )》 北京 : [10] .檢測與傳感技術(shù) . . [11] C 語言應(yīng)用 100例 [M] 2021. [12] PROTEL99SE 35 附錄 g an employment tribunal clai Employment tribunals sort out disagreements between employers and employees. You may need to make a claim to an employment tribunal if: ? you don39。t appealed against the disciplinary action your employer has taken against you. However, if you win your case, the tribunal may reduce any pensation awarded to you as a result of your failure to appeal. Remember that in most cases you must make an application to an employment tribunal within three months of the date when the event you are plaining about happened. If your application is received after this time limit, the tribunal will not usually accept i. If you are worried about how the time limits apply to you, take advice from one of the anisations listed under Further help. Employment tribunals are less formal than some other courts, but it is still a legal process and you will need to give evidence under an oath or affirmation. Most people find making a claim to an employment tribunal challenging. If you are thinking about making a claim to an employment tribunal, you should get help straight away from one of the anisations listed under Further help. If you are being represented by a solicitor at the tribunal, they may ask you to sign an agreement where you pay their fee out of your pensation if you win the case. This is known as a damagesbased agreement. In England and Wales, your solicitor can39。re clear about the terms of the agreement. It might be best to get advice from an experienced adviser, for example, at a Citizens Advice Bureau. To find your nearest CAB, including those that give advice by , click on nearest CAB. For more information about making a claim to an employment tribunal, see Employment tribunals. The (lack of) air up there Watch mCayman Islandsbased Webb, the head of Fifa39。s 150th anniversary celebrations and will attend City39。s about how he felt and I would like to speak to him first to find out what his experience was. 36 Uefa has opened disciplinary proceedings against CSKA for the racist behaviour of their fans during City39。s governing body, has also ordered an immediate investigation into the referee39。s plaint. In a statement the Russian side added: We found no racist insults from fans of CSKA. Age has reached the end of the beginning of a word. May be guilty in his seems to passing a lot of different life became the appearance of the same day?；蛟S是愧疚于自己似乎把轉(zhuǎn)瞬即逝的很多個(gè)不同的日子過成了同一天的樣子；或許是追溯過去，對自己那些近乎偏執(zhí)的怪異信念的醒悟，這些天以來，思緒一直很凌亂，在腦海中不斷 糾纏。二十年的人生軌跡深深淺淺，突然就感覺到有些事情，非做不可了。 Junior high school, thought to have a crush on just means that the real growth, but over the past three years later, his writing of alumni in peace, suddenly found that isn39。 Then in high school, think don39。t remember his appearance. 童年時(shí)，覺得壓歲錢和新衣服是過年必備，但是隨著年齡的推進(jìn)，會(huì)越來越發(fā)現(xiàn)，那些東西根本就可有可無；初中時(shí)，以為要有一場暗戀才意味著真正的成長，但三年過去后，自己心平氣和的寫同學(xué)錄的時(shí)候，突然就發(fā)現(xiàn)是不是真正的成長了，好像并沒有那么重 要了；然后到了高中，覺得非要吐露出自己的心聲才能為高中生涯里的懵懂情愫劃上一個(gè)句點(diǎn)，但畢業(yè)晚會(huì)的時(shí)候最終還是被梗塞在了咽喉，后來再次站在他曾經(jīng)揮汗如雨的球場，看著他投過籃球的球框時(shí)，突然間發(fā)現(xiàn)自己已經(jīng)想不起他的容顏。 A person39。想要的，不想要的，界限明確，好像沒有什么可以撼動(dòng)自己。嫌惡過自己的怯懦，最終卻發(fā)現(xiàn)有很多 緣分 ，有很多錯(cuò)過，好像冥冥之中真的已經(jīng)注定。 37 At the moment, the sky is dark, the air is fresh factor after just rained. Suddenly thought of blue plaid shirt。 From the corner at the beginning of deep friendship。t start planning... Those years, those days of do, finally, like youth, will end in our life. 此刻，天空是陰暗的，空氣里有著剛下過雨之后的清新因子。 Baumgartner the disappointing news: Mission aborted. r plays an important role in this mission. Starting at the ground, condi