MC9S12XS128单片机，清华的智能车推荐板子。可调试如下各个模块。光电管AD转换，舵机占空比，PWM驱动电机，霍尔元件测速 部分细节自行修改。 -MC9S12XS128 single chip, the smart car Tsinghua board recommended. Can debug each module are as follows. Phototube AD conversion, steering dut