module， ｓignaｌ detection ｍoｄule, maiｎ control ｍo
ｄuｌe, moｔor. In thｉs dｅsign， wｉｔh STC89Ｃ５1
SＣＭ as ｔｈｅ mａster cｈｉｐ， prｏｃessｉng ｖarｉ
oｕs sigｎals recｅived， aｎｄ make cｏrrespondinｇ fｅ
edback; usinｇ Infrared ｔo ｔｕbe to ｄｅteｃt tｈe
black lｉne, so aｓ to ａcｈｉｅve ｔｈe purpoｓｅ of trａc
ｋinｇ; Ｔhｒｏugｈ thｅ program， ensure tｈe motor ro
ｔａtｉon， so as tｏ aｃhieｖe ｔhe dｅsign oｆ ｔｈe car
whｅn thｅ ｓchedｕlｅd ｔaｒgeｔ.
As ｔhe cａr in the desｉgｎ prｏceｓs， usｉnｇ a ｍod
ｕｌａr design cｏnceｐt，so ｖeｒｙ conveniｅnt durｉｎg
debugｇing. Ｗe werｅ pａrt oｆ eacｈ ｆuncｔiｏn for de
ｂugging， dｅbuｇginｇ dｒｉvinｇ pａrt， as long as ｔ
hｅ ｍｏtｏr ｆorｗaｒｄ ｏｒbackward signal， yoｕ can
debuｇ ｔhe funcｔiｏnａliｔｙ。 Whｅn dｅｂuｇgiｎg
traｃking pａrt， sｉmｐly bｙ deｔecting ｔhe black ｌin
ｅ, ｔo deｔerｍine wheｔｈer thｅ ｂlaｃk ｌｉne rｕｎｎ
ｉng aｌｏnｇ, that yｏu ｃan debug a. Aｖoidａnce dur
ｉｎg commissiｏnｉnｇ， we can puｔ ａn ｏbsｔａcｌe
in frｏnｔ oｆ the car， and ｔｈen loｏｋ at ｔhe car
two sｔeeriｎg wｈeeｌs。 This moduｌar dｅｓｉｇn noｔ
onｌy simｐlifies tｈｅ ｄeｓign， ｂut also for ｏｕｒ fｕ
