这是我第一个寻迹小车，程序很简单，只有十多行。主要用了两个外部中断。走的是黑底白线的轨迹。传感器部分的电路图大家可以在网上找。原理是如果传感器在黑色背景上，输出高电平。如果检测到白线，输出低电平，把两路传感器接到单片机的P32,P33。就能实现循白色轨迹的功能了。传感器我用的是ST168。ST178,ST188也可以。

Proteus仿真文件中用了两个开关来替代，可以观察电机的反应。

-This is my first car tracing, the program is very simple, only a dozen lines. Mainly used two external interrupt. Follows is the black-white lines of the track. Sensor part of the circuit you can find online. The principle is if the sensor in a black background, the output high. If the white line is detected, the output low, the two received a single chip sensor P32, P33. Could be achieved through the functions of a white track. Sensor I use the ST168. ST178, ST188 can. Proteus simulation document used to replace the two switches, you can observe the motor response.