开发环境：IAR 智能消防车，寻黑线，走方格，加入了pid算法-Development environment: IAR intelligent fire engines, look for the black line, and take the checkered joined pid algorithm

使用KEIL软件，使用STM32F407ZGT6芯片，实现四轮小车循迹、灭火、使用火焰传感器、红外循迹模块。(The use of KEIL software, using STM32F407ZGT6 chip, the realization of the four wheel car tracking, fire, flame sensor, infrared tracking module.)