说明：   本系统以单片机为核心，通过步进电机实现运动轨迹控制。系统由电机驱动器、黑白线检测、人机交互以及单片机控制器四个部分组成。系统中使用了两个单片机，一片为W78E58B，通过精确算法实现对步进电机的直接控制；另一片为AT89C51，用于语音播放，两单片机之间通过485通信建立联系。此外，看门狗DS1232的应用，提高了单片机控制系统的抗干扰能力。
(The system to single-chip microcomputer as the core, through the stepper motor to achieve trajectory control. System consists of motor drives, black and white line detection, human-computer interaction as well as four single-chip controller parts. System using two single-chip, one for W78E58B, through accurate algorithm to realize the direct control of stepper motor another piece for the AT89C51, for voice playback, two single-chip 485 communication between the networking. In addition, the DS1232 watchdog applications, improve the single-chip control system anti-interference ability.)