\n| \n \u7a7a\u65f7\u901a\u4fe1\u8ddd\u79bb<\/p>\n<\/td>\n | \n 181.6m<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n 4.2 \u4e3a\u4ec0\u4e48\u9009 BT37？<\/h4>\n\u6211\u4e4b\u524d\u4e5f\u7528\u8fc7\u5176\u4ed6\u54c1\u724c\u7684\u84dd\u7259\u6a21\u5757，\u7efc\u5408\u5bf9\u6bd4\u4e0b\u6765，\u5927\u590f\u9f99\u96c0 BT37 \u7684\u4f18\u52bf\u4f53\u73b0\u5728：<\/p>\n BT37\u652f\u6301\u84dd\u72595.2，\u8fde\u63a5\u901f\u5ea6\u66f4\u5feb\u3001\u529f\u8017\u66f4\u4f4e\u3001AT\u6307\u4ee4\u4e30\u5bcc，\u677f\u8f7d\u5929\u7ebf，\u65e0\u9700\u989d\u5916\u8bbe\u8ba1\u5929\u7ebf\u7535\u8def\u3002<\/p>\n 4.3 AT\u6307\u4ee4\u914d\u7f6e\u793a\u4f8b<\/h4>\nBT37 \u7684 AT \u6307\u4ee4\u4e0e BT36 \u517c\u5bb9，\u6211\u5e38\u7528\u6307\u4ee4\u5982\u4e0b（\u6ce8\u610f\u5b9e\u6d4b\u53d1\u73b0\u90e8\u5206AT\u6307\u4ee4\u9700\u91cd\u542f\u540e\u624d\u80fd\u751f\u6548）：<\/p>\n \/\/ AT \u6307\u4ee4\u793a\u4f8b（\u4e32\u53e3\u53d1\u9001，\u8fd4\u56deOK\u8868\u793a\u6210\u529f）
\n"AT\\\\r\\\\n" \/\/ \u6d4b\u8bd5AT\u6307\u4ee4\u662f\u5426\u6b63\u5e38
\n"AT+NAME=MyCar\\\\r\\\\n" \/\/ \u8bbe\u7f6e\u8bbe\u5907\u540d\u79f0\u4e3a MyCar
\n"AT+BAUD=9600\\\\r\\\\n" \/\/ \u8bbe\u7f6e\u6ce2\u7279\u73879600
\n"AT+PWR=7\\\\r\\\\n" \/\/ \u8bbe\u7f6e\u53d1\u5c04\u529f\u7387（0-9\u7ea7）
\n"AT+UUID=FFE0\\\\r\\\\n" \/\/ \u8bbe\u7f6e\u670d\u52a1UUID
\n"AT+PWRM=0\\\\r\\\\n" \/\/ \u8bbe\u7f6e\u529f\u8017\u6a21\u5f0f（0\u6b63\u5e38，1\u4f4e\u529f\u8017，2\u51ac\u7720）
\n"AT+RESET\\\\r\\\\n" \/\/ \u590d\u4f4d\u6a21\u5757<\/p>\n 4.4 \u4f9b\u7535\u53c2\u8003\u7535\u8def<\/h4>\n![\"\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260829134937-6a92e371de126.png\") <\/p>\n
\n\u4e94\u3001\u901a\u4fe1\u534f\u8bae\u8bbe\u8ba1<\/h3>\n5.1 \u6307\u4ee4\u683c\u5f0f<\/h4>\n\u91c7\u7528\u7b80\u6d01\u7684\u6587\u672c\u6307\u4ee4\u534f\u8bae，\u4ee5 \\\\r\\\\n \u7ed3\u5c3e，\u4fbf\u4e8e\u8c03\u8bd5：<\/p>\n \/\/ ========== \u8fd0\u52a8\u63a7\u5236\u6307\u4ee4 ==========
\n"FWD\\\\r\\\\n" \/\/ \u524d\u8fdb
\n"BACK\\\\r\\\\n" \/\/ \u540e\u9000
\n"LEFT\\\\r\\\\n" \/\/ \u5de6\u8f6c
\n"RIGHT\\\\r\\\\n" \/\/ \u53f3\u8f6c
\n"STOP\\\\r\\\\n" \/\/ \u505c\u6b62<\/p>\n \/\/ ========== \u901f\u5ea6\u63a7\u5236 ==========
\n"SPD:1\\\\r\\\\n" \/\/ \u901f\u5ea61\u6863
\n"SPD:2\\\\r\\\\n" \/\/ \u901f\u5ea62\u6863
\n"SPD:3\\\\r\\\\n" \/\/ \u901f\u5ea63\u6863
\n"SPD:4\\\\r\\\\n" \/\/ \u901f\u5ea64\u6863
\n"SPD:5\\\\r\\\\n" \/\/ \u901f\u5ea65\u6863<\/p>\n \/\/ ========== \u706f\u6548\u63a7\u5236 ==========
\n"LED:0\\\\r\\\\n" \/\/ \u5173\u706f
\n"LED:1\\\\r\\\\n" \/\/ \u524d\u5927\u706f（\u767d\u5149\u5e38\u4eae）
\n"LED:2\\\\r\\\\n" \/\/ \u5de6\u8f6c\u706f（\u9ec4\u8272\u95ea\u70c1）
\n"LED:3\\\\r\\\\n" \/\/ \u53f3\u8f6c\u706f（\u9ec4\u8272\u95ea\u70c1）
\n"LED:4\\\\r\\\\n" \/\/ \u5239\u8f66\u706f（\u7ea2\u8272\u5e38\u4eae）
\n"LED:5\\\\r\\\\n" \/\/ \u547c\u5438\u706f（RGB\u6e10\u53d8）
\n"LED:6\\\\r\\\\n" \/\/ \u5f69\u8679\u706f（RGB\u5faa\u73af）<\/p>\n \/\/ ========== \u6a21\u5f0f\u5207\u6362 ==========
\n"MODE:0\\\\r\\\\n" \/\/ \u624b\u52a8\u9065\u63a7\u6a21\u5f0f
\n"MODE:1\\\\r\\\\n" \/\/ \u81ea\u52a8\u907f\u969c\u6a21\u5f0f<\/p>\n \/\/ ========== \u6570\u636e\u67e5\u8be2 ==========
\n"GET:DIST\\\\r\\\\n" \/\/ \u67e5\u8be2\u524d\u65b9\u8ddd\u79bb<\/p>\n \/\/ ========== \u56de\u590d\u683c\u5f0f ==========
\n"OK\\\\r\\\\n" \/\/ \u6267\u884c\u6210\u529f
\n"ERR\\\\r\\\\n" \/\/ \u6267\u884c\u5931\u8d25
\n"DIST:25.3\\\\r\\\\n" \/\/ \u8ddd\u79bb\u6570\u636e（cm）<\/p>\n 5.2 \u4e32\u53e3\u89e3\u6790\u5b9e\u73b0<\/h4>\nSTC89C52 \u4f7f\u7528\u786c\u4ef6\u4e32\u53e3\u4e2d\u65ad\u63a5\u6536\u6570\u636e，\u9010\u5b57\u8282\u89e3\u6790：<\/p>\n #define RX_BUF_SIZE 32
\nunsigned char rx_buf[RX_BUF_SIZE];
\nunsigned char rx_index = 0;
\nbit cmd_ready = 0;<\/p>\n \/\/ \u4e32\u53e3\u4e2d\u65ad\u670d\u52a1\u51fd\u6570
\nvoid UART_ISR() interrupt 4
\n{
\n unsigned char ch;<\/p>\n if(RI) {
\n RI = 0;
\n ch = SBUF;<\/p>\n if(ch == '\\\\n' || rx_index >= RX_BUF_SIZE – 1) {
\n rx_buf[rx_index] = '\\\\0';
\n cmd_ready = 1;
\n rx_index = 0;
\n } else if(ch != '\\\\r') {
\n rx_buf[rx_index++] = ch;
\n }
\n }
\n}<\/p>\n \/\/ \u4e3b\u5faa\u73af\u4e2d\u5904\u7406\u6307\u4ee4
\nvoid main(void)
\n{
\n UART_Init(); \/\/ \u4e32\u53e3\u521d\u59cb\u5316，9600\u6ce2\u7279\u7387
\n Motor_Init(); \/\/ \u7535\u673a\u521d\u59cb\u5316
\n LED_Init(); \/\/ LED\u521d\u59cb\u5316
\n HC_SR04_Init(); \/\/ \u8d85\u58f0\u6ce2\u521d\u59cb\u5316<\/p>\n while(1) {
\n if(cmd_ready) {
\n cmd_ready = 0;
\n Parse_Command(rx_buf);
\n }<\/p>\n \/\/ \u81ea\u52a8\u907f\u969c\u6a21\u5f0f
\n if(auto_mode) {
\n Obstacle_Avoidance();
\n }<\/p>\n \/\/ LED\u706f\u6548\u4efb\u52a1
\n LED_Task();
\n }
\n}<\/p>\n
\n\u516d\u3001\u8f6f\u4ef6\u67b6\u6784\u4e0e\u63a7\u5236\u6d41\u7a0b<\/h3>\n![\"\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260829134938-6a92e3720e859.png\") <\/p>\n
6.1 \u4e3b\u5faa\u73af\u7ed3\u6784<\/h4>\n\u6574\u4e2a\u7cfb\u7edf\u91c7\u7528\u524d\u540e\u53f0\u67b6\u6784：\u4e2d\u65ad\u8d1f\u8d23\u6570\u636e\u63a5\u6536\u548cPWM\u65f6\u5e8f，\u4e3b\u5faa\u73af\u8d1f\u8d23\u6307\u4ee4\u89e3\u6790\u548c\u4e1a\u52a1\u903b\u8f91\u3002<\/p>\n \/\/ \u4e3b\u5faa\u73af\u6982\u89c8
\nvoid main(void)
\n{
\n System_Init(); \/\/ \u7cfb\u7edf\u521d\u59cb\u5316<\/p>\n while(1) {
\n \/\/ 1. \u5904\u7406\u84dd\u7259\u6307\u4ee4
\n if(cmd_ready) {
\n Parse_Command(rx_buf);
\n cmd_ready = 0;
\n }<\/p>\n \/\/ 2. \u81ea\u52a8\u907f\u969c\u6a21\u5f0f
\n if(auto_mode) {
\n Obstacle_Avoidance_Task();
\n }<\/p>\n \/\/ 3. LED\u706f\u6548\u5237\u65b0
\n LED_PWM_Update();<\/p>\n \/\/ 4. \u5b9a\u65f6\u91c7\u96c6\u4f20\u611f\u5668
\n if(timer_100ms) {
\n timer_100ms = 0;
\n sensor_distance = HC_SR04_GetDistance();
\n }
\n }
\n}<\/p>\n 6.2 \u81ea\u52a8\u907f\u969c\u7b97\u6cd5<\/h4>\nvoid Obstacle_Avoidance_Task(void)
\n{
\n float dist = HC_SR04_GetDistance();<\/p>\n if(dist < 10.0) {
\n \/\/ \u8ddd\u79bb\u592a\u8fd1，\u505c\u8f66\u540e\u9000
\n Motor_Backward();
\n delay_ms(500);
\n Motor_TurnRight();
\n delay_ms(800);
\n }
\n else if(IR_LEFT == 0) {
\n \/\/ \u5de6\u8fb9\u6709\u969c\u788d\u7269，\u53f3\u8f6c
\n Motor_TurnRight();
\n delay_ms(300);
\n }
\n else if(IR_RIGHT == 0) {
\n \/\/ \u53f3\u8fb9\u6709\u969c\u788d\u7269，\u5de6\u8f6c
\n Motor_TurnLeft();
\n delay_ms(300);
\n }
\n else {
\n \/\/ \u524d\u65b9\u7545\u901a，\u524d\u8fdb
\n Motor_Forward();
\n }
\n}<\/p>\n
\n\u4e03\u3001\u624b\u673aAPP\u63a7\u5236\u7aef<\/h3>\n\u4e3a\u4e86\u8ba9\u5c0f\u8f66\u7684\u63a7\u5236\u66f4\u4fbf\u6377，\u5f00\u53d1\u4e86\u914d\u5957\u7684 \u84dd\u7259\u63a7\u5236APP（\u4e5f\u53ef\u7528\u5fae\u4fe1\u5c0f\u7a0b\u5e8f\u5b9e\u73b0），\u901a\u8fc7 BLE \u76f4\u63a5\u8fde\u63a5 BT37 \u6a21\u5757：<\/p>\n ![\"\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260829134938-6a92e37261adf.png\") <\/p>\n
APP\u529f\u80fd<\/h3>\n\n\n\n\u529f\u80fd\u533a<\/p>\n \u529f\u80fd\u8bf4\u660e<\/p>\n<\/tr>\n \n| \n \u65b9\u5411\u63a7\u5236<\/p>\n<\/td>\n | \n D-pad\u65b9\u5411\u952e，\u524d\u8fdb\/\u540e\u9000\/\u5de6\u8f6c\/\u53f3\u8f6c\/\u505c\u6b62<\/p>\n<\/td>\n<\/tr>\n | \n| \n \u901f\u5ea6\u8c03\u8282<\/p>\n<\/td>\n | \n 5\u6863\u901f\u5ea6\u6ed1\u5757，\u5b9e\u65f6\u8c03\u6574\u8f66\u901f<\/p>\n<\/td>\n<\/tr>\n | \n| \n \u6a21\u5f0f\u5207\u6362<\/p>\n<\/td>\n | \n \u624b\u52a8\u9065\u63a7 \/ \u81ea\u52a8\u907f\u969c \u4e00\u952e\u5207\u6362<\/p>\n<\/td>\n<\/tr>\n | \n| \n \u706f\u6548\u63a7\u5236<\/p>\n<\/td>\n | \n \u5927\u706f\/\u8f6c\u5411\u706f\/\u5239\u8f66\u706f\/\u547c\u5438\u706f\/\u5f69\u8679\u706f<\/p>\n<\/td>\n<\/tr>\n | \n| \n \u72b6\u6001\u663e\u793a<\/p>\n<\/td>\n | \n \u8fde\u63a5\u72b6\u6001\u3001\u7535\u6c60\u7535\u538b\u3001\u524d\u65b9\u8ddd\u79bb<\/p>\n<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n ![\"\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260829134938-6a92e37297920.png\") <\/h4>\n
\n\u516b\u3001\u673a\u68b0\u7ed3\u6784\u4e0e\u7ec4\u88c5<\/h3>\n
![\"\"](\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/08\/20260829134938-6a92e372f31a8.png\") <\/p>\n
8.1 \u8f66\u4f53\u7ed3\u6784<\/h4>\n\u5c0f\u8f66\u91c7\u7528\u53cc\u5c42\u7ed3\u6784\u8bbe\u8ba1：<\/p>\n \n- \n
\u5e95\u5c42：\u7535\u673a\u9a71\u52a8\u677f（MX1508）+ \u7535\u6c60 + \u7535\u673a + \u8f66\u8f6e + \u7ea2\u5916<\/p>\n<\/li>\n - \n
\u4e0a\u5c42：STC89C52 \u4e3b\u63a7\u677f + BT37 \u84dd\u7259\u6a21\u5757 + \u8d85\u58f0\u6ce2\u00a0+ RGB\u706f<\/p>\n<\/li>\n<\/ul>\n \u8fd9\u6837\u7684\u5e03\u5c40\u597d\u5904\u662f\u91cd\u5fc3\u4f4e\u3001\u884c\u9a76\u7a33\u5b9a，\u540c\u65f6\u4f20\u611f\u5668\u5b89\u88c5\u5728\u524d\u7aef，\u68c0\u6d4b\u66f4\u7075\u654f\u3002<\/p>\n 8.2 \u7ec4\u88c5\u8981\u70b9<\/h4>\n - \n
\u7535\u673a\u56fa\u5b9a：\u4f7f\u7528\u94dc\u67f1\u5c06\u7535\u673a\u652f\u67b6\u56fa\u5b9a\u5728\u5e95\u76d8\u4e0a，\u786e\u4fdd\u5de6\u53f3\u7535\u673a\u5bf9\u79f0<\/p>\n<\/li>\n - \n
\u4e07\u5411\u8f6e：\u524d\u7aef\u5b89\u88c5\u4e00\u4e2a\u4e07\u5411\u8f6e\u4f5c\u4e3a\u652f\u6491，\u4f7f\u5c0f\u8f66\u80fd\u591f\u7075\u6d3b\u8f6c\u5411<\/p>\n<\/li>\n - \n
\u7535\u6c60\u4ed3：\u5efa\u8bae\u8bbe\u8ba1\u4e13\u95e8\u7684\u7535\u6c60\u4ed3，\u907f\u514d\u7535\u6c60\u6643\u52a8\u5f71\u54cd\u91cd\u5fc3<\/p>\n<\/li>\n - \n
\u4f20\u611f\u5668\u9ad8\u5ea6：\u8d85\u58f0\u6ce2\u548c\u7ea2\u5916\u907f\u969c\u6a21\u5757\u5b89\u88c5\u9ad8\u5ea6\u7ea63~5cm，\u4e0e\u5730\u9762\u5e73\u884c<\/p>\n<\/li>\n - \n
\u5e03\u7ebf\u6574\u7406：\u7528\u624e\u5e26\u6574\u7406\u7ebf\u675f，\u907f\u514d\u7ebf\u6750\u7f20\u7ed5\u8f66\u8f6e<\/p>\n<\/li>\n
\n\u4e5d\u3001\u5b9e\u6d4b\u95ee\u9898\u8bb0\u5f55<\/h3>\n9.1 \u8d85\u58f0\u6ce2\u6d4b\u8ddd\u4e0d\u51c6<\/h4>\n - \n
\u786e\u4fdd TRIG \u89e6\u53d1\u8109\u51b2\u5bbd\u5ea6 \u2265 10us<\/p>\n<\/li>\n - \n
\u53ef\u4ee5\u591a\u6b21\u91c7\u6837\u53d6\u5e73\u5747\u503c，\u51cf\u5c0f\u8bef\u5dee<\/p>\n<\/li>\n 9.2\u00a0\u5c0f\u8f66\u8d70\u4e0d\u76f4<\/h4>\n - \n
\u5de6\u53f3\u7535\u673a\u8f6c\u901f\u6709\u5dee\u5f02，\u8f6f\u4ef6\u4e0a\u505a\u901f\u5ea6\u8865\u507f，\u4e5f\u53ef\u4ee5\u5728\u7a0b\u5e8f\u4e2d\u5fae\u8c03\u5de6\u53f3PWM\u5360\u7a7a\u6bd4<\/p>\n<\/li>\n - \n
\u68c0\u67e5\u8f6e\u80ce\u662f\u5426\u5b89\u88c5\u5230\u4f4d，\u4e07\u5411\u8f6e\u662f\u5426\u7075\u6d3b<\/p>\n<\/li>\n
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