# VisualTrackCar
基于 OpenMV 和 STM32C8T6 的 循迹小车
原理
选取图片中部靠下的长方形区域为阈值化的ROI区域，
读到黑线的中心位置 做PID运算，将PID运算结果通过传到STM32上
通信协议如下
标志位 小车控制高八位 小车控制低八位
STM32上将OpenMV的PID计算结果进行平方处理并于基准速度相加，得到小车的占空比，并输出
毕业设计&课程设计-基于 OpenMV 和 STM32 的 循迹小车.zip （156个子文件） 
A31.axf 527KB stm32f1xx_hal_tim.c 235KB stm32f1xx_hal_uart.c 107KB stm32f1xx_hal_tim_ex.c 75KB stm32f1xx_hal_rcc.c 48KB stm32f1xx_hal_flash_ex.c 35KB stm32f1xx_hal_rcc_ex.c 29KB stm32f1xx_hal_flash.c 29KB stm32f1xx_hal_dma.c 27KB stm32f1xx_hal_gpio.c 20KB stm32f1xx_hal_pwr.c 20KB stm32f1xx_hal.c 20KB stm32f1xx_hal_cortex.c 18KB stm32f1xx_hal_exti.c 15KB system_stm32f1xx.c 14KB main.c 7KB tim.c 6KB stm32f1xx_it.c 6KB stm32f1xx_hal_gpio_ex.c 4KB usart.c 3KB stm32f1xx_hal_msp.c 2KB gpio.c 2KB stm32f1xx_hal_tim.crf 606KB stm32f1xx_hal_tim_ex.crf 568KB stm32f1xx_hal_uart.crf 561KB stm32f1xx_hal_rcc.crf 556KB stm32f1xx_hal_dma.crf 551KB main.crf 551KB stm32f1xx_hal_flash_ex.crf 549KB stm32f1xx_hal_flash.crf 548KB stm32f1xx_hal_gpio.crf 547KB stm32f1xx_hal_exti.crf 547KB stm32f1xx_hal_pwr.crf 546KB stm32f1xx_hal_rcc_ex.crf 546KB tim.crf 546KB stm32f1xx_hal.crf 545KB stm32f1xx_hal_cortex.crf 544KB usart.crf 544KB stm32f1xx_it.crf 544KB gpio.crf 544KB stm32f1xx_hal_msp.crf 544KB system_stm32f1xx.crf 544KB stm32f1xx_hal_gpio_ex.crf 544KB stm32f1xx_hal_flash_ex.d 2KB stm32f1xx_hal_gpio_ex.d 2KB stm32f1xx_hal_rcc_ex.d 2KB stm32f1xx_hal_cortex.d 2KB stm32f1xx_hal_tim_ex.d 2KB stm32f1xx_hal_flash.d 2KB stm32f1xx_hal_exti.d 2KB stm32f1xx_hal_gpio.d 2KB stm32f1xx_hal_uart.d 2KB stm32f1xx_hal_msp.d 2KB stm32f1xx_hal_tim.d 2KB stm32f1xx_hal_pwr.d 2KB stm32f1xx_hal_rcc.d 2KB stm32f1xx_hal_dma.d 2KB system_stm32f1xx.d 2KB stm32f1xx_it.d 2KB stm32f1xx_hal.d 2KB main.d 2KB usart.d 2KB gpio.d 2KB tim.d 2KB startup_stm32f103xb.d 49B A31_STM32F103C8_1.0.0.dbgconf 2KB A31_A31.dep 53KB
t1.gif 976KB .gitattributes 66B stm32f103xb.h 823KB stm32_hal_legacy.h 205KB core_cm33.h 169KB core_armv8mml.h 162KB core_cm7.h 142KB core_cm4.h 119KB stm32f1xx_hal_tim.h 118KB core_cm3.h 107KB core_sc300.h 106KB core_cm23.h 100KB stm32f1xx_hal_rcc_ex.h 97KB core_armv8mbl.h 94KB stm32f1xx_hal_rcc.h 65KB cmsis_gcc.h 59KB cmsis_armclang.h 53KB core_cm0plus.h 48KB core_sc000.h 45KB stm32f1xx_hal_uart.h 42KB core_cm1.h 41KB core_cm0.h 40KB stm32f1xx_hal_flash_ex.h 35KB stm32f1xx_hal_gpio_ex.h 35KB cmsis_iccarm.h 27KB cmsis_armcc.h 27KB stm32f1xx_hal_dma.h 17KB stm32f1xx_hal_cortex.h 17KB stm32f1xx_hal_conf.h 15KB stm32f1xx_hal_dma_ex.h 12KB stm32f1xx_hal_exti.h 12KB stm32f1xx_hal_gpio.h 11KB stm32f1xx_hal_pwr.h 11KB共 156 条
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