[Lichuang Development Board] Ackermann car based on the Liangshan School

1. Introduction to the work:
Participate in the Lichuang EDA winter vacation training camp to learn how to use GD32F470 to make smart cars.
 
2. Function analysis:
1. The tracking function uses 
the principles of LM393 and IR9909. Whether IR9909 reads the black line and LM393 returns the high and low levels so that the microcontroller issues different instructions 
(note: when drawing the schematic diagram, do not connect the pins of the components. Wrong! !!)
( I didn’t check carefully when I drew the schematic, which resulted in the need for flying wires in the tracking circuit
. 2. Ultrasonic ranging.
The principle of ultrasonic ranging is to start timing when the ultrasonic transmitting device emits ultrasonic waves. When propagating in the air, when an obstacle is encountered during propagation, a signal will be returned to the ultrasonic receiver. The ultrasonic receiver will immediately stop timing after receiving the signal. At this time, there will be a time t, and the speed of ultrasonic waves propagating in the air is 340m/s, through the formula s=340 xt / 200, you can calculate the distance to be measured.
Working principle:
Working voltage: DC 5V;
use I/O port trigger method to measure distance, and send out a high voltage of at least 10us through the microcontroller . The level signal is sent to the Trig pin of the ultrasonic module to trigger the ultrasonic module to work;
the module's transmitting probe will automatically send 8 40KHz square wave signals and automatically detect whether there is a signal return;
if there is a signal return, connect it through the Echo pin The I/O port of the microcontroller outputs a high level, and the duration of the high level is the time from emission to return of the ultrasonic wave.
According to the propagation speed of sound in the air is 340 meters/second, the measured distance can be calculated;
 
 
3. Oled display
reference: Zhongjingyuan Electronics, put it together and it will be bright.
4. TB6612 motor driver, PWM drive servo
 
1) TB6612 driver
2) PWM servo
PWM is the waveform input, the microcontroller needs to be connected through the IO port on this line Enter a fixed waveform, and use the waveform to rotate the servo to a certain angle.
5. Bluetooth remote control
HC-04
 
6. Buzzer warning! ! !
B~B~B~ kept shouting
 
7. Button
state switching
 
3. Code
(Buhui
is writing now
) 4. The progress
is about to start school, go to school and work on it slowly
 
5. Work display and
look at my little broken car
6. , I feel a little bit sad that
this is the first and last training camp I should participate in this year. I am already in my junior year and I am going to take the postgraduate entrance examination. I have wasted too much time
since my freshman year . Participated in the Lichuang training camp, including Tuya’s thermometer and hygrometer, pet feeder, language assistant, Hangshun training camp, IoT clock, two training camps of Hongmeng (switch and small clock), Renesas, cw motor , National Technology, and have been participating in only a few issues to produce finished products.
Thanks to Lichuang for appearing in my college life, so that I have more or less access to some extracurricular knowledge instead of learning nothing after playing for three years.
I look forward to participating in the training camp next time. I hope that Lichuang's training camp can continue to be held and help more confused college students and electronic enthusiasts.
Thank you for coming. Even if you are just a passerby,
I can't let you go. Every time I say it. sentence