目 录
第 1 章绪论 .........................................................................1
1.1 课题背景 .....................................................................1
1.2 课题研究的内容 ...............................................................1
第 2 章 系统总体设计 ...............................................................2
2.1 系统设计要求 .................................................................2
2.2 系统框图 .....................................................................2
2.3 设计规划 .....................................................................2
第 3 章系统硬件设计 ................................................................4
3.1 单片机介绍 ...................................................................4
3.1.1 单片机概述 .............................................................4
3.1.2 单片机的特点 ...........................................................4
3.1.3 单片机的应用领域 .......................................................4
3.1.4 单片机选用 .............................................................5
3.1.5 控制电路设计 ...........................................................6
3.1.6 单片机供电模块设计 .....................................................9
3.2 步进电机介绍 ................................................................10
3.2.1 步进电机的概述 ........................................................10
3.2.2 步进电机的特点 ........................................................10
3.2.3 步进电机的工作原理 ....................................................11
3.2.4 步进电机选用 ..........................................................11
3.3 步进电机驱动器的设计 ........................................................11
3.4 系统功能设计 ................................................................13
3.4.1 循迹功能 ..............................................................13
3.4.2 避障功能 ..............................................................15
3.5 上位机电路设计 ..............................................................15
第 4 章系统软件设计 ...............................................................19
4.1 电机控制流程图 ..............................................................19
4.2 电机方向控制 ................................................................19
4.3 速度控制 ....................................................................20
4.4 循迹 ........................................................................21
4.5 避障流程图 ..................................................................21
第 5 章总结与展望..................................................................23
5.1 总结 ........................................................................23
5.2 展望 ........................................................................23
