目 录
第一章 绪论 ..................................................................................................................1
1.1 课题研究背景及意义 ......................................................................................1
1.2 本文所做的工作 ..............................................................................................1
第二章 系统方案设计 ..................................................................................................3
2.1 总体设计框图 ...................................................................................................3
2.2 核心控制单元的选择 .......................................................................................3
2.3 电机驱动方案选择 ...........................................................................................4
第三章 系统硬件电路设计 ..........................................................................................5
3.1 最小系统电路 ...................................................................................................6
3.2 舵机控制模块 ...................................................................................................7
3.3 寻迹模块电路 ...................................................................................................7
3.4 能量采集模块 ...................................................................................................7
3.5 电机驱动模块 ...................................................................................................7
3.5.1 L298N 电机驱动芯片.............................................................................8
3.5.2 PWM 调速原理 ......................................................................................9
3.5.3 驱动电路 .................................................................................................9
第四章 系统软件设计 ................................................................................................12
4.1 ICCAVR 简介.................................................................................................12
4.2 主控制模块主程序设计 .................................................................................13
4.3 能量模块子程序设计 .....................................................................................13
4.4 电机控制子程序设计 .....................................................................................13
结 论 ..........................................................................................................................15
致 谢 ..........................................................................................................................16
参考文献 ......................................................................................................................17
附 录 A 总电路图 ......................................................................................................18
附 录 B 源程序 ..........................................................................................................19
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