PROJECT 03 / TI MSPM0
让感知与电机控制协同工作Bringing sensing and motor control together
以 MSPM0G3507 为核心，将灰度感知、惯性信息和电机驱动连接成自主行驶控制系统。An MSPM0G3507-based control system connecting grayscale sensing, inertial information and motor drivers.
SENSING → CONTROLSYS / MSPM0
CONCEPTUAL SYSTEM DIAGRAM原创示意 / 非实物照片
01 / PROBLEM
要解决什么问题The engineering problem
在资源有限的控制器上协调循迹感知、惯性输入和执行机构，让控制逻辑具有明确的接口与调试路径。Coordinate line sensing, inertial inputs and actuation on a resource-constrained controller with clear interfaces and a practical debugging path.
02 / ARCHITECTURE
系统如何连接How the system connects
- 0111 路灰度：路径输入11 grayscale channels: path input
- 02ICM20608：惯性信息ICM20608: inertial input
- 03MSPM0G3507：控制与调度MSPM0G3507: control and coordination
- 04AT8236 + PWM：电机执行AT8236 + PWM: motor actuation
以上为概念级结构梳理，不是实物接线图或验证报告。A conceptual architecture summary, not an as-built wiring diagram or validation report.
03 / CONTRIBUTIONS
我的工作与参与My work & contributions
- 参与 MSPM0 应用逻辑、驱动和控制系统调试。Contribute to MSPM0 application logic, drivers and control-system debugging.
- 围绕传感器、PID 与 PWM 组织接口和控制流程。Organize sensor interfaces and control flow around PID and PWM.
- 结合程序与硬件资料梳理系统结构及版本差异。Use firmware and hardware materials to clarify system structure and version differences.
04 / VALIDATION & LIMITS
有证据的结论，明确的边界Evidence, with clear boundaries
2024 TI 杯浙江省本科二等奖。候选板卡只能描述为 MSPM0G3507-based control board design candidate；其是否为比赛最终装车版本仍待本人确认，不宣称已实物上车。Second prize, undergraduate category, Zhejiang TI Cup, 2024. Candidate board material is described only as an MSPM0G3507-based control board design candidate. Its use in the final competition vehicle remains unconfirmed.
05 / MEDIA
工程媒体与后续补充Engineering media
真实工程媒体 · 待审核补充Engineering media · pending review
PCB 媒体位置已预留。仅发布真实 EDA 导出、且完成版本与隐私审核的图片；3D 导出将标注 EDA 3D preview。PCB media slots are ready. Only genuine EDA exports with reviewed provenance and privacy will be added. A 3D export will be labeled EDA 3D preview.
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