基于K60芯片的赛道智能小车技术研究

Research on Smart Car Technology of Track Based on K60 Chip

本文利用K60单片机驱动线性CCD采集数据,然后通过单面机内改良的凹槽算法进行判断,结合控制算法控制舵机给出合理舵机值,再给出合适的PWM波来控制电机转速。速度检测方面采用一个OMR0N旋转编码器来实现反馈脉冲,同时运用单片机的脉冲累加器采集速度,从而实现智能车在赛道上的稳定行驶。

Use K60 microcontroller driven linear CCD da ta acquisition, and then through the groove algorithm improvement in the single machine to determine the combination of control algorithm to control the servo actuator to give a reasonable value, to give the appropriate PWM wave to control the motor speed. In the aspect of speed detection, a OMR0 N rotary encoder is used to realize the feedback pulse. At the same time, the pulse accumulator is used to collect the speed of the MCU, so as to realize the stable running of the intelligent vehicle on the track.