使用51单片机，通过多个个ST188传感器来实现小车的循迹运动，包括直行，转弯，绕圈，上下坡的控制，小车采用步进电机，并辅助以1602及数码管的显示，使用干簧管检测模块可以对磁铁障碍物进行检测，发上来大家共同学习，附原理图-Use 51 single chip microcomputer, by each ST188 sensors in order to realize the tracking of the car movement, including straight, turn, ci

运行在stm32f103vet6上，用定时器模拟SPI，读取SSI多圈绝对值编码器的圈数和角度。(Running on stm32f103vet6, SPI is simulated by timer, and the number and angle of SSI multi-loop absolute value encoder are read)