STM32F103RC+蓝牙模块+MPU9250九轴姿态实现电磁巡线智能小车

******2021/6/21 19:31:53****** Ready GO times: 0,61,50,-38.000,-5.000,94.000,0.000,-1.000,0.000,-30.000,85.000,51.000,2032,2235,2131,101,0.097,1560, 6900, 6900,12.000,12.000 times: 1,82,83,-31.000,-3.000,77.000,0.000,-1.000,-2.000,-30.000,82.000,52.000,1784,2009,2235,107,-0.113,1622, 6036, 6900,12.000,12.000 times: 2,73,83,-22.000,-12.000,61.000,1.000,0.000,-6.000,-28.000,84.000,51.000,2008,2346,2341,104,0.100,1562, 6276, 5916,12.000,12.000 times: 3,74,73,-43.000,-12.000,76.000,-1.000,0.000,2.000,-28.000,85.000,51.000,1718,2061,2006,104,-0.005,1497, 6096, 6324,12.000,12.000 times: 4,75,75,-32.000,-14.000,115.000,-1.000,0.000,-1.000,-31.000,83.000,52.000,1990,2097,2220,103,0.199,1302, 5808, 6468,12.000,12.000 times: 5,74,74,-31.000,-30.000,67.000,-3.000,0.000,10.000,-31.000,82.000,49.000,1792,2156,1968,102,0.097,1465, 6084, 6276,12.000,12.000 times: 6,74,75,-33.000,-1.000,115.000,0.000,-1.000,-3.000,-30.000,84.000,53.000,2077,2203,2053,99,0.301,1687, 6408, 5976,12.000,12.000 times: 7,74,76,-42.000,10.000,89.000,2.000,-1.000,-2.000,-30.000,84.000,54.000,1769,2104,1969,103,-0.057,1528, 6084, 6252,12.000,12.000 times: 8,74,75,-27.000,-42.000,116.000,-4.000,-1.000,8.000,-30.000,85.000,54.000,1985,2066,2073,101,-0.057,1560, 6120, 6168,12.000,12.000 times: 9,75,75,-34.000,-14.000,64.000,-1.000,-1.000,4.000,-31.000,85.000,51.000,1694,1981,1914,103,-0.257,1429, 6096, 6240,12.000,12.000 times: 10,0,0,-38.000,-16.000,81.000,-1.000,-1.000,2.000,-29.000,85.000,50.000,1989,2299,1996,100,0.050,1531, 6096, 6240,12.000,12.000 times: 11,0,0,-75.000,-21.000,69.000,54.000,-121.000,-54.000,-29.000,81.000,54.000,1782,2145,1845,101,-0.101,1563, 6096, 6240,12.000,12.000 times: 12,0,0,-84.000,-19.000,59.000,-73.000,187.000,24.000,-28.000,95.000,39.000,2036,2335,2012,99,0.153,1373, 6900, 6900,12.000,12.000 times: 13,76,46,-76.000,-44.000,78.000,-37.000,103.000,53.000,-33.000,88.000,48.000,1763,1951,2087,105,0.043,1462, 6900, 6900,12.000,12.000 times: 14,83,84,-4.000,37.000,110.000,122.000,-295.000,-115.000,-28.000,87.000,50.000,1907,2089,2237,105,0.043,1462, 6900, 6900,12.000,12.000 times: 15,84,83,-4.000,37.000,135.000,78.000,-161.000,-56.000,-32.000,93.000,43.000,1837,2151,2309,107,-0.013,1524, 5628, 6900,12.000,12.000 times: 16,0,0,27.000,23.000,99.000,41.000,-21.000,-16.000,-34.000,94.000,36.000,1994,2287,2032,100,0.050,1531, 5628, 6900,12.000,12.000 times: 17,0,0,11.000,19.000,90.000,-10.000,6.000,11.000,-34.000,91.000,36.000,1838,2193,1888,100,-0.050,1468, 5628, 6900,12.000,12.000 times: 18,0,0,-5.000,15.000,77.000,-19.000,170.000,14.000,-33.000,93.000,34.000,1985,2300,1982,99,0.000,1500, 5628, 6900,12.000,12.000 times: 19,74,67,-112.000,5.000,5.000,-116.000,269.000,82.000,-33.000,91.000,39.000,1924,2172,1991,101,0.043,1429, 6900, 6900,12.000,12.000 times: 20,85,84,-121.000,-16.000,9.000,-80.000,267.000,64.000,-32.000,92.000,38.000,1838,2076,2122,104,-0.263,1524, 6900, 6900,12.000,12.000 times: 21,78,85,-65.000,12.000,32.000,-50.000,204.000,40.000,-31.000,88.000,44.000,2026,2325,2448,106,0.095,1497, 5700, 6900,12.000,12.000 times: 22,2,1,-199.000,-64.000,9.000,-97.000,244.000,68.000,-32.000,88.000,44.000,1778,1960,2138,106,-0.055,1561, 5892, 6900,12.000,12.000 times: 23,0,0,-199.000,-81.000,-9.000,-118.000,166.000,65.000,-31.000,87.000,47.000,1985,2303,1979,99,0.050,1500, 5892, 6900,12.000,12.000 times: 24,0,0,-43.000,16.000,36.000,111.000,-321.000,-84.000,-31.000,89.000,45.000,1831,2191,1878,100,-0.050,1531, 5892, 6900,12.000,12.000 times: 25,71,45,40.000,21.000,103.000,107.000,-225.000,-91.000,-31.000,90.000,40.000,1880,2009,2126,104,-0.057,1462, 6900, 6900,12.000,12.000 times: 26,82,83,35.000,47.000,102.000,-1.000,89.000,-17.000,-33.000,91.000,38.000,1780,2073,1872,101,-0.055,1464, 6900, 6900,12.000,12.000 times: 27,85,85,-199.000,-111.000,14.000,-148.000,119.000,66.000,-32.000,89.000,48.000,1877,2151,2371,107,0.090,1556, 5724, 6900,12.000,12.000 times: 28,4,4,29.000,25.000,91.000,160.000,-326.000,-129.000,-33.000,92.000,42.000,1888,2189,2005,101,-0.210,1526, 5652, 6900,12.000,12.000 times: 29,0,0,54.000,30.000,112.000,83.000,-56.000,-76.000,-32.000,93.000,40.000,1989,2270,2503,107,0.033,1422, 5652, 6900,12.000,12.000 times: 30,0,0,13.000,5.000,103.000,34.000,-155.000,-19.000,-32.000,92.000,43.000,1825,2161,2417,109,-0.125,1551, 5652, 6900,12.000,12.000 times: 31,69,56,36.000,26.000,129.000,47.000,-111.000,-30.000,-31.000,93.000,39.000,1922,2086,2190,104,-0.060,1526, 6900, 6900,12.000,12.000 times: 32,85,83,5.000,19.000,114.000,24.000,16.000,-25.000,-32.000,95.000,35.000,1772,1943,2060,104,0.040,1559, 6900, 6900,12.000,12.000 times: 33,81,83,-14.000,13.000,74.000,-46.000,96.000,29.000,-32.000,94.000,34.000,1938,2070,2151,103,-0.003,1498, 5640, 6900,12.000,12.000 times: 34,72,83,-41.000,7.000,53.000,-98.000,181.000,88.000,-36.000,90.000,36.000,1847,2122,2203,105,-0.010,1526, 6192, 6900,12.000,12.000 times: 35,75,82,-33.000,-1.000,51.000,-81.000,142.000,74.000,-33.000,87.000,43.000,2049,2192,2181,102,0.147,1300, 5820, 6900,12.000,12.000 times: 36,75,84,-68.000,0.000,54.000,-92.000,271.000,91.000,-34.000,89.000,43.000,1886,2110,2052,102,-0.110,1623, 6240, 6900,12.000,12.000 times: 37,75,83,-175.000,-12.000,-19.000,-141.000,321.000,132.000,-30.000,85.000,47.000,1776,2049,2038,104,-0.055,1465, 6084, 6900,12.000,12.000 times: 38,74,84,-195.000,-32.000,-12.000,-115.000,346.000,87.000,-31.000,89.000,44.000,1825,2066,2209,106,-0.063,1460, 5964, 6900,12.000,12.000 times: 39,76,83,-131.000,-28.000,53.000,-22.000,-63.000,11.000,-29.000,78.000,55.000,1916,2153,2274,105,0.040,1427, 5916, 6900,12.000,12.000 times: 40,74,83,-85.000,-3.000,24.000,91.000,-278.000,-88.000,-32.000,76.000,55.000,1864,2196,2299,106,-0.060,1460, 5964, 6900,12.000,12.000 times: 41,74,83,-8.000,6.000,83.000,95.000,-283.000,-97.000,-31.000,80.000,52.000,2038,2269,2202,102,0.095,1398, 5976, 6900,12.000,12.000 times: 42,75,75,22.000,20.000,120.000,42.000,34.000,-16.000,-31.000,84.000,48.000,1829,2139,2285,107,-0.271,1717, 6300, 5856,12.000,12.000 times: 43,75,75,-173.000,-59.000,35.000,-81.000,56.000,54.000,-33.000,77.000,53.000,1969,2161,2348,105,-0.007,1429, 5952, 6336,12.000,12.000 times: 44,75,74,1.000,10.000,99.000,90.000,-268.000,-83.000,-33.000,82.000,50.000,1789,1988,2109,105,0.197,1400, 6000, 6432,12.000,12.000 times: 45,75,76,51.000,13.000,94.000,93.000,-101.000,-85.000,-34.000,88.000,42.000,1988,2225,2322,105,0.197,1367, 5916, 6312,12.000,12.000 times: 46,73,74,-5.000,45.000,74.000,-45.000,180.000,31.000,-31.000,87.000,47.000,1876,2109,2052,102,0.095,1464, 6072, 6300,12.000,12.000 times: 47,75,75,-199.000,-30.000,-30.000,-161.000,347.000,119.000,-34.000,81.000,53.000,1795,2011,2253,107,-0.105,1434, 6072, 6336,12.000,12.000 times: 48,73,75,-111.000,-5.000,36.000,30.000,-141.000,-49.000,-32.000,71.000,58.000,2066,2317,2302,103,0.299,1369, 6000, 6396,12.000,12.000 times: 49,11,8,45.000,6.000,83.000,123.000,-309.000,-128.000,-33.000,84.000,52.000,1829,2135,1994,102,-0.157,1495, 6084, 6288,12.000,12.000 times: 50,0,0,3.000,47.000,74.000,-12.000,202.000,36.000,-32.000,86.000,49.000,1994,2263,2516,107,0.033,1520, 6084, 6288,12.000,12.000 times: 51,0,0,-187.000,-9.000,-20.000,-165.000,366.000,129.000,-32.000,81.000,52.000,1840,2159,2434,109,-0.125,1551, 6084, 6288,12.000,12.000 times: 52,63,20,-199.000,-73.000,-15.000,-145.000,149.000,63.000,-31.000,75.000,57.000,1813,2034,2156,105,-0.001,1499, 6900, 6900,12.000,12.000 times: 53,82,79,25.000,5.000,46.000,111.000,-342.000,-130.000,-32.000,79.000,55.000,1978,2094,2238,104,0.100,1403, 6900, 6900,12.000,12.000 times: 54,84,83,50.000,10.000,113.000,49.000,10.000,-50.000,-30.000,87.000,51.000,1809,2062,2103,104,-0.113,1458, 6252, 6900,12.000,12.000 times: 55,12,11,-161.000,-15.000,-7.000,-114.000,246.000,114.000,-33.000,82.000,54.000,1893,2199,2373,107,-0.217,1364, 5760, 6900,12.000,12.000 times: 56,0,0,40.000,4.000,109.000,87.000,-221.000,-81.000,-32.000,82.000,52.000,1979,2255,2512,107,0.083,1455, 5760, 6900,12.000,12.000 times: 57,0,0,-57.000,22.000,53.000,