基于MSP430F5529的循迹壁障无线控制智能小车设计报告2013年7月3日.doc

华中科技大学电子与信息工程系 2013年TI杯电子设计大赛项目总结报告 项目名称： 基于MSP430的智能小车设计 团队成员： 竺浩 通信工程1006班 邱双 通信工程1006班 郑学谦 通信工程1006班 指导教师: 汪小燕 2013 年 7 月 3 日  课题名称：智能小车自动控制系统 【摘要】 本次课程设计以MSP430超低功耗单片机系列MSP430F5529为主控制器，附加电机、电池、传感控制模块等，完成二驱小车自由运动、检测黑白线实现沿轨道自动运行、能够避开障碍物、无线控制等功能，F5529的I/O口丰富，使得各个功能模块之间信息交流快捷方便。在机械结构上，我们选购用一个万用轮代替两个前轮的小车，大幅度提高了小车的灵敏度。利用单片机产生PWM波，控制小车速度，选用L298N驱动芯片驱动电路，使用三路红外对接管检测黑白线，使用一个超声波实现测距壁障功能，使小车能够自动左转避开障碍物，使用无线控制模块，可实时控制小车运动。基于可靠的硬件设计和更加优化的软件算法，在实现本课设基本要求的基础上，可实现部分扩展功能。 【关键词】：MSP430F5529 循迹 无线控制 超声波测距壁障Abstract This curriculum project uses MSP430F5529, in the series of MSP430 ultra low power single chip microcomputer, as its main controller. In addition, the realization of the controller’s function can not leave motor, battery, sensing control template and so on, for example, free movement of the two drive vehicle, and automatic operation along runway by testing black and white lines, avoiding obstacles, wireless operation and other functions. The quick and easy information exchanging among each functional template has to thank to the abundance of I/O of F5529. On mechanical structure, two front wheels of the mini car are replaced by a universal wheel, so as to improve its sensitivity by large margin. PWM is used to control motor and single chip microcomputer to make PWM wave, in order to control its speed. The car can stop and turn left to avoid obstacles because L298N driving chip drives circuit, three infrared ray on pipes is used to test black and white lines, and an ultrasonic template is chosen to realize ranging barrier function. With wireless operating template, movement of the mini car can reach real-time control. Besides finishing basic requirement of this curriculum project, so