05年电赛控制类实现 控制步进电机利用悬挂画圆、循迹，实现点到点等 -Class 05 electric race to achieve control of stepper motor control using hanging Circle, tracking, point to point, etc.

该程序代码是基于msp430f149为平台开发悬挂系统开发，可准确完成基础部分的画直线、画圆等要求，并可以显示坐标以及发挥部分循迹要求，可以在12864屏上显示轨迹-The program code is based msp430f149 suspension system developed for the platform can be accurately completed basic part of the painting line, circle, etc., and can di

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