Abstract
The system uses MSP430F5529 as the control core, TPS63070 and TPS61088 as the voltage boost and step-down modules, and the black-and-white squares of the track are detected by the grayscale sensor to complete the tracking. The system is divided into 2 parts: software and hardware. The hardware part of the system includes 5 parts: motion chassis, MSP430F5529 MCU, power supply module, sensor module and motor-driven module. The software part makes logical judgments by collecting the digital signal returned by the grayscale sensor, obtains the deviation through weight comparison, and then GPIO outputs the corresponding PWM wave to control the direction of the car.
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