本设计是利用HC-SR04超声波传感器检测障碍物，并以CC2430单片机作为控制芯片来控制速度和转向，使电动小船快慢行驶。超声波传感器测距的功能。其中小船驱动由L298N驱动电路完成，HS—425BB舵机作为小船的马达，完成速度、转向和停止的作用，由单片机输出的PWM波控制，这是代码。-The design is based on HC-SR04 ultrasonic sensors detection of the obstacles, and use a CC2430 MCU as the controlling core for the speed and direction, It can controlling the electronic ship in a high and a low speed automatically. The sensors avoid the obstacle. In which, the ship is drived by the L298N circuit, the HS—425BB is the motor, its accomplish the function like speed，direction and stop, it controlled by the output PWM signal from the CC2430.This is the code