{"id":11202,"date":"2026-04-09T21:46:54","date_gmt":"2026-04-09T13:46:54","guid":{"rendered":"https:\/\/www.archimetric.com\/cn\/common-state-machine-mistakes-robotics-code\/"},"modified":"2026-04-09T21:46:54","modified_gmt":"2026-04-09T13:46:54","slug":"common-state-machine-mistakes-robotics-code","status":"publish","type":"post","link":"https:\/\/www.archimetric.com\/cn\/common-state-machine-mistakes-robotics-code\/","title":{"rendered":"\u5bfc\u81f4\u673a\u5668\u4eba\u4ee3\u7801\u5d29\u6e83\u7684\u6709\u9650\u72b6\u6001\u673a\u56fe\u4e2d\u7684\u5e38\u89c1\u9519\u8bef"},"content":{"rendered":"

\u4e3a\u81ea\u4e3b\u7cfb\u7edf\u8bbe\u8ba1\u63a7\u5236\u903b\u8f91\u9700\u8981\u7cbe\u786e\u6027\u3002\u5f53\u5de5\u7a0b\u5e08\u4ece\u6982\u5ff5\u8f6c\u5411\u5b9e\u73b0\u65f6\uff0c\u7edf\u4e00\u5efa\u6a21\u8bed\u8a00\uff08UML\uff09\u72b6\u6001\u673a\u56fe\u901a\u5e38\u5145\u5f53\u84dd\u56fe\u3002\u7136\u800c\uff0c\u56fe\u8868\u4e0e\u5b9e\u9645\u4ee3\u7801\u4e4b\u95f4\u7684\u8131\u8282\u53ef\u80fd\u5bfc\u81f4\u673a\u5668\u4eba\u73af\u5883\u4e2d\u707e\u96be\u6027\u6545\u969c\u3002\u673a\u5668\u4eba\u672c\u5e94\u79fb\u52a8\u5374\u72b9\u8c6b\u4e0d\u51b3\uff0c\u6216\u5728\u6267\u884c\u7b80\u5355\u4efb\u52a1\u65f6\u9677\u5165\u65e0\u9650\u5faa\u73af\uff0c\u8fd9\u4e9b\u60c5\u51b5\u5f80\u5f80\u6e90\u4e8e\u72b6\u6001\u673a\u67b6\u6784\u4e2d\u7684\u6839\u672c\u6027\u9519\u8bef\u3002<\/p>\n

\u6784\u5efa\u53ef\u9760\u7684\u5d4c\u5165\u5f0f\u8f6f\u4ef6\u4e0d\u4ec5\u9700\u8981\u753b\u65b9\u6846\u548c\u7bad\u5934\u3002\u5b83\u8fd8\u9700\u8981\u5bf9\u6267\u884c\u6d41\u7a0b\u3001\u65f6\u5e8f\u548c\u8d44\u6e90\u7ba1\u7406\u6709\u6df1\u5165\u7406\u89e3\u3002\u672c\u6307\u5357\u5206\u6790\u4e86\u635f\u5bb3\u673a\u5668\u4eba\u72b6\u6001\u673a\u7684\u7279\u5b9a\u9677\u9631\u3002\u901a\u8fc7\u8bc6\u522b\u8fd9\u4e9b\u7ed3\u6784\u6027\u5f31\u70b9\uff0c\u5f00\u53d1\u8005\u53ef\u4ee5\u786e\u4fdd\u5176\u7cfb\u7edf\u5728\u73b0\u5b9e\u4e16\u754c\u90e8\u7f72\u4e2d\u5177\u5907\u6240\u9700\u7684\u7a33\u5b9a\u6027\u3002<\/p>\n

\n
\"Chibi-style<\/figure>\n<\/div>\n

1. \ud83d\udeab \u7f3a\u5931\u7684\u521d\u59cb\u72b6\u6001<\/h2>\n

\u4efb\u4f55\u6709\u9650\u72b6\u6001\u673a\uff08FSM\uff09\u7684\u57fa\u7840\u662f\u521d\u59cb\u72b6\u6001\u3002\u8fd9\u662f\u7cfb\u7edf\u5728\u4e0a\u7535\u6216\u590d\u4f4d\u540e\u5f00\u59cb\u8fd0\u884c\u7684\u5165\u53e3\u70b9\u3002\u7ed8\u56fe\u65f6\u5e38\u89c1\u7684\u9519\u8bef\u662f\u9057\u6f0f\u8fd9\u4e2a\u8d77\u70b9\uff0c\u6216\u4f7f\u5176\u6a21\u7cca\u4e0d\u6e05\u3002<\/p>\n

\u5f53\u4ece\u4e00\u4e2a\u672a\u5b9a\u4e49\u5165\u53e3\u72b6\u6001\u7684\u56fe\u8868\u751f\u6210\u4ee3\u7801\u65f6\uff0c\u8fd0\u884c\u65f6\u73af\u5883\u901a\u5e38\u4f1a\u9ed8\u8ba4\u8fdb\u5165\u4e00\u4e2a\u4efb\u610f\u72b6\u6001\u3002\u5728\u673a\u5668\u4eba\u573a\u666f\u4e2d\uff0c\u8fd9\u610f\u5473\u7740\u673a\u5668\u4eba\u53ef\u80fd\u5728\u672c\u5e94\u5904\u4e8e\u201c\u7a7a\u95f2\u201d\u72b6\u6001\u65f6\u5374\u542f\u52a8\u5728\u201c\u79fb\u52a8\u201d\u72b6\u6001\u3002\u8fd9\u53ef\u80fd\u5bfc\u81f4\u6267\u884c\u5668\u7acb\u5373\u6fc0\u6d3b\uff0c\u4ece\u800c\u5f15\u53d1\u5b89\u5168\u9690\u60a3\u3002<\/p>\n

    \n
  • \u672a\u5b9a\u4e49\u7684\u8d77\u59cb\u70b9\uff1a<\/strong> \u4ee3\u7801\u5047\u8bbe\u67d0\u4e2a\u72b6\u6001\u5b58\u5728\uff0c\u4f46\u672a\u9a8c\u8bc1\u5176\u662f\u5426\u4e3a\u6b63\u786e\u7684\u5165\u53e3\u70b9\u3002<\/li>\n
  • \u4e0a\u7535\u5faa\u73af\u95ee\u9898\uff1a<\/strong> \u91cd\u542f\u65f6\uff0c\u673a\u5668\u4eba\u53ef\u80fd\u4fdd\u7559\u4e0a\u4e00\u6b21\u4f1a\u8bdd\u7684\u6570\u636e\uff0c\u4f46\u672a\u80fd\u91cd\u7f6e\u63a7\u5236\u903b\u8f91\u3002<\/li>\n
  • \u521d\u59cb\u5316\u903b\u8f91\uff1a<\/strong> \u82e5\u6ca1\u6709\u4e13\u95e8\u7684\u521d\u59cb\u72b6\u6001\uff0c\u521d\u59cb\u5316\u5e8f\u5217\u901a\u5e38\u4f1a\u5206\u6563\u5728\u591a\u4e2a\u8f6c\u6362\u51fd\u6570\u4e2d\u3002<\/li>\n<\/ul>\n

    \u6bcf\u4e2a\u5065\u58ee\u7684\u72b6\u6001\u673a\u90fd\u5fc5\u987b\u660e\u786e\u5730\u5b9a\u4e49\u5165\u53e3\u6761\u4ef6\u3002\u8fd9\u80fd\u786e\u4fdd\u4f20\u611f\u5668\u5df2\u6821\u51c6\u3001\u6267\u884c\u5668\u5df2\u5236\u52a8\uff0c\u5e76\u4e14\u903b\u8f91\u63a7\u5236\u5668\u5728\u673a\u5668\u4eba\u63a5\u53d7\u5916\u90e8\u547d\u4ee4\u524d\u5df2\u51c6\u5907\u5c31\u7eea\u3002<\/p>\n

    2. \u23f8\ufe0f \u6b7b\u9501\u4e0e\u7f3a\u5931\u7684\u8f6c\u6362<\/h2>\n

    \u5f53\u7cfb\u7edf\u8fdb\u5165\u4e00\u4e2a\u65e0\u6cd5\u8fdb\u884c\u4efb\u4f55\u8f6c\u6362\u7684\u72b6\u6001\u65f6\uff0c\u5c31\u4f1a\u53d1\u751f\u6b7b\u9501\u3002\u5728\u56fe\u8868\u4e2d\uff0c\u8fd9\u8868\u73b0\u4e3a\u4e00\u4e2a\u6ca1\u6709\u51fa\u8fb9\u7bad\u5934\u7684\u65b9\u6846\u3002\u5728\u4ee3\u7801\u4e2d\uff0c\u8fd9\u8868\u73b0\u4e3a\u7a0b\u5e8f\u6302\u8d77\u6216\u51bb\u7ed3\u3002<\/p>\n

    \u673a\u5668\u4eba\u5728\u52a8\u6001\u73af\u5883\u4e2d\u8fd0\u884c\u3002\u5982\u679c\u4f20\u611f\u5668\u672a\u80fd\u62a5\u544a\u6570\u636e\uff0c\u673a\u5668\u4eba\u4e0d\u5e94\u65e0\u9650\u671f\u505c\u6b62\u3002\u4e00\u4e2a\u7b49\u5f85\u6c38\u8fdc\u4e0d\u4f1a\u53d1\u751f\u7684\u6761\u4ef6\u7684\u72b6\u6001\u673a\u5c06\u5bfc\u81f4\u6b7b\u9501\u3002\u8fd9\u5728\u5bfc\u822a\u4efb\u52a1\u4e2d\u5c24\u5176\u5371\u9669\uff0c\u56e0\u4e3a\u673a\u5668\u4eba\u53ef\u80fd\u5728\u7b49\u5f85\u4e00\u6761\u88ab\u969c\u788d\u7269\u963b\u6321\u800c\u65e0\u6cd5\u6e05\u7406\u7684\u8def\u5f84\u3002<\/p>\n

    \u6b7b\u9501\u7684\u5e38\u89c1\u539f\u56e0\u5305\u62ec\uff1a<\/p>\n

      \n
    • \u4e0d\u53ef\u8fbe\u72b6\u6001\uff1a<\/strong> \u56fe\u8868\u4e2d\u5b9a\u4e49\u4e86\u4f46\u4ece\u672a\u8fde\u63a5\u5230\u4e3b\u6d41\u7a0b\u7684\u72b6\u6001\u3002<\/li>\n
    • \u7f3a\u5931\u9ed8\u8ba4\u8f6c\u6362\uff1a<\/strong> \u672a\u4e3a\u610f\u5916\u8f93\u5165\u5b9a\u4e49\u201c\u515c\u5e95\u201d\u8f6c\u6362\u3002<\/li>\n
    • \u903b\u8f91\u77db\u76fe\uff1a<\/strong> \u76f8\u4e92\u6392\u65a5\u7684\u4fdd\u62a4\u6761\u4ef6\uff0c\u5bfc\u81f4\u6ca1\u6709\u524d\u8fdb\u8def\u5f84\u3002<\/li>\n<\/ul>\n

      \u4e3a\u9632\u6b62\u6b64\u7c7b\u95ee\u9898\uff0c\u6bcf\u4e2a\u72b6\u6001\u90fd\u5e94\u6709\u660e\u786e\u7684\u9000\u51fa\u8def\u5f84\u3002\u5982\u679c\u5728\u7279\u5b9a\u65f6\u95f4\u5185\u672a\u6ee1\u8db3\u9884\u671f\u6761\u4ef6\uff0c\u7cfb\u7edf\u5e94\u8f6c\u5165\u8d85\u65f6\u6216\u9519\u8bef\u72b6\u6001\uff0c\u800c\u4e0d\u662f\u65e0\u9650\u7b49\u5f85\u3002<\/p>\n

      3. \ud83d\udd04 \u5e76\u53d1\u7ba1\u7406\u4e0d\u5f53<\/h2>\n

      \u673a\u5668\u4eba\u901a\u5e38\u9700\u8981\u540c\u65f6\u6267\u884c\u591a\u4e2a\u4efb\u52a1\u3002\u4e00\u67b6\u65e0\u4eba\u673a\u53ef\u80fd\u9700\u8981\u5728\u626b\u63cf\u969c\u788d\u7269\u7684\u540c\u65f6\u4fdd\u6301\u98de\u884c\u7a33\u5b9a\u3002\u7b80\u5355\u7684\u987a\u5e8f\u72b6\u6001\u673a\u65e0\u6cd5\u5904\u7406\u8fd9\u79cd\u60c5\u51b5\u3002\u5de5\u7a0b\u5e08\u6709\u65f6\u5c1d\u8bd5\u901a\u8fc7\u5d4c\u5957\u72b6\u6001\u6765\u6a21\u62df\u5e76\u53d1\uff0c\u4f46\u8fd9\u5f80\u5f80\u5bfc\u81f4\u590d\u6742\u4e14\u96be\u4ee5\u7ef4\u62a4\u7684\u903b\u8f91\u3002<\/p>\n

      \u771f\u6b63\u7684\u5e76\u53d1\u9700\u8981\u72b6\u6001\u673a\u5185\u90e8\u5305\u542b\u5e76\u884c\u533a\u57df\u3002\u5982\u679c\u56fe\u8868\u4e2d\u4e3a\u5e76\u884c\u4efb\u52a1\u663e\u793a\u5355\u4e00\u6d41\u7a0b\uff0c\u751f\u6210\u7684\u4ee3\u7801\u5f88\u53ef\u80fd\u4f1a\u4f9d\u6b21\u6267\u884c\u8fd9\u4e9b\u4efb\u52a1\u3002\u8fd9\u4f1a\u5f15\u5165\u5ef6\u8fdf\uff0c\u5bf9\u4e8e\u9ad8\u901f\u63a7\u5236\u56de\u8def\u6765\u8bf4\u53ef\u80fd\u662f\u4e0d\u53ef\u63a5\u53d7\u7684\u3002<\/p>\n

        \n
      • \u4ea4\u9519\u6267\u884c\uff1a<\/strong> \u5e76\u884c\u4efb\u52a1\u7684\u987a\u5e8f\u5904\u7406\u4f1a\u5bfc\u81f4\u5173\u952e\u64cd\u4f5c\u51fa\u73b0\u5ef6\u8fdf\u3002<\/li>\n
      • \u8d44\u6e90\u7ade\u4e89\uff1a<\/strong> \u591a\u4e2a\u72b6\u6001\u540c\u65f6\u5c1d\u8bd5\u8bbf\u95ee\u540c\u4e00\u786c\u4ef6\u8d44\u6e90\u800c\u6ca1\u6709\u540c\u6b65\u3002<\/li>\n
      • \u72b6\u6001\u7206\u70b8\uff1a<\/strong> \u5c1d\u8bd5\u4e3a\u6bcf\u4e2a\u5e76\u884c\u4efb\u52a1\u7684\u7ec4\u5408\u5efa\u6a21\u4f1a\u5bfc\u81f4\u72b6\u6001\u6570\u91cf\u5448\u7ec4\u5408\u7206\u70b8\u5f0f\u589e\u957f\u3002<\/li>\n<\/ul>\n

        \u6b63\u786e\u7684\u5efa\u6a21\u9700\u8981\u8bc6\u522b\u72ec\u7acb\u7684\u6d3b\u52a8\uff0c\u5e76\u5c06\u5176\u5206\u914d\u5230\u4e0d\u540c\u7684\u5e76\u884c\u533a\u57df\u3002\u8fd9\u4f7f\u5f97\u8fd0\u884c\u65f6\u80fd\u591f\u9ad8\u6548\u8c03\u5ea6\u5b83\u4eec\uff0c\u800c\u4e0d\u4f1a\u76f8\u4e92\u963b\u585e\u3002<\/p>\n

        4. \ud83d\uded1 \u8fc7\u4e8e\u590d\u6742\u7684\u5b88\u536b\u6761\u4ef6<\/h2>\n

        \u5b88\u536b\u6761\u4ef6\u662f\u51b3\u5b9a\u8f6c\u6362\u662f\u5426\u53ef\u4ee5\u53d1\u751f\u7684\u903b\u8f91\u8868\u8fbe\u5f0f\u3002\u867d\u7136\u5bf9\u63a7\u5236\u81f3\u5173\u91cd\u8981\uff0c\u4f46\u8fc7\u4e8e\u590d\u6742\u7684\u6761\u4ef6\u4f1a\u63a9\u76d6\u903b\u8f91\u6d41\u7a0b\u3002\u4e00\u4e2a\u8de8\u8d8a\u4e94\u884c\u4ee3\u7801\u7684\u5b88\u536b\u6761\u4ef6\u5f88\u96be\u8c03\u8bd5\u548c\u9a8c\u8bc1\u3002<\/p>\n

        \u5728\u673a\u5668\u4eba\u6280\u672f\u4e2d\uff0c\u4f20\u611f\u5668\u63d0\u4f9b\u7684\u662f\u566a\u58f0\u6570\u636e\u3002\u4f9d\u8d56\u4e8e\u591a\u4e2a\u4f20\u611f\u5668\u540c\u65f6\u8bfb\u6570\u7684\u5b88\u536b\u6761\u4ef6\u5bb9\u6613\u51fa\u73b0\u7ade\u4e89\u6761\u4ef6\u3002\u5982\u679c\u4e00\u4e2a\u4f20\u611f\u5668\u6bd4\u53e6\u4e00\u4e2a\u7a0d\u65e9\u66f4\u65b0\uff0c\u903b\u8f91\u53ef\u80fd\u4f1a\u4ee5\u4e0e\u9884\u671f\u4e0d\u540c\u7684\u65b9\u5f0f\u8bc4\u4f30\u3002<\/p>\n

        \u590d\u6742\u7684\u5b88\u536b\u6761\u4ef6\u4f1a\u5bfc\u81f4\uff1a<\/p>\n

          \n
        • \u9690\u85cf\u7684\u4f9d\u8d56\u5173\u7cfb\uff1a<\/strong> \u8bc4\u4f30\u987a\u5e8f\u5f88\u91cd\u8981\uff0c\u4f46\u5728\u56fe\u4e2d\u5e76\u672a\u660e\u786e\u663e\u793a\u3002<\/li>\n
        • \u8c03\u8bd5\u56f0\u96be\uff1a<\/strong> \u5f53\u8f6c\u6362\u672a\u80fd\u89e6\u53d1\u65f6\uff0c\u5f88\u96be\u786e\u5b9a\u662f\u6761\u4ef6\u7684\u54ea\u4e00\u90e8\u5206\u5931\u8d25\u4e86\u3002<\/li>\n
        • \u4ee3\u7801\u81a8\u80c0\uff1a<\/strong> \u590d\u6742\u7684\u903b\u8f91\u7ecf\u5e38\u5728\u591a\u4e2a\u8f6c\u6362\u4e2d\u91cd\u590d\u51fa\u73b0\u3002<\/li>\n<\/ul>\n

          \u66f4\u597d\u7684\u505a\u6cd5\u662f\u7b80\u5316\u5b88\u536b\u6761\u4ef6\u3002\u5c06\u590d\u6742\u7684\u903b\u8f91\u79fb\u81f3\u72b6\u6001\u7684\u5165\u53e3\u6216\u51fa\u53e3\u52a8\u4f5c\u4e2d\u3002\u8fd9\u53ef\u4ee5\u4f7f\u8f6c\u6362\u4fdd\u6301\u7b80\u6d01\uff0c\u72b6\u6001\u56fe\u4e5f\u66f4\u6613\u8bfb\u3002\u4f8b\u5982\uff0c\u4e0e\u5176\u5728\u6bcf\u6b21\u8f6c\u6362\u65f6\u90fd\u68c0\u67e5\u7535\u6c60\u7535\u91cf\uff0c\u4e0d\u5982\u5728\u8fdb\u5165\u201c\u4f4e\u7535\u91cf\u201d\u72b6\u6001\u65f6\u68c0\u67e5\u4e00\u6b21\u5373\u53ef\u3002<\/p>\n

          5. \u23f1\ufe0f \u5ffd\u89c6\u8d85\u65f6\u548c\u770b\u95e8\u72d7<\/h2>\n

          \u5b9e\u65f6\u7cfb\u7edf\u9700\u8981\u5177\u5907\u65f6\u95f4\u610f\u8bc6\u3002\u4ec5\u4f9d\u8d56\u4e8b\u4ef6\u89e6\u53d1\u7684\u72b6\u6001\u673a\u662f\u8106\u5f31\u7684\u3002\u5982\u679c\u4e8b\u4ef6\u4ece\u672a\u5230\u8fbe\u4f1a\u53d1\u751f\u4ec0\u4e48\uff1f\u673a\u5668\u4eba\u5c06\u65e0\u9650\u671f\u7b49\u5f85\u3002<\/p>\n

          \u5b9e\u73b0\u8d85\u65f6\u673a\u5236\u5bf9\u4e8e\u7cfb\u7edf\u97e7\u6027\u81f3\u5173\u91cd\u8981\u3002\u6bcf\u4e2a\u72b6\u6001\u90fd\u5e94\u6709\u5176\u53ef\u4fdd\u6301\u6d3b\u52a8\u7684\u6700\u5927\u65f6\u957f\u3002\u5982\u679c\u8f6c\u6362\u6761\u4ef6\u672a\u6ee1\u8db3\uff0c\u8ba1\u65f6\u5668\u5c06\u89e6\u53d1\u4e00\u4e2a\u56de\u9000\u72b6\u6001\u3002<\/p>\n

            \n
          • \u786c\u4ef6\u770b\u95e8\u72d7\uff1a<\/strong> \u5982\u679c\u8f6f\u4ef6\u5361\u6b7b\uff0c\u5916\u90e8\u673a\u5236\u4f1a\u91cd\u7f6e\u7cfb\u7edf\u3002<\/li>\n
          • \u5185\u90e8\u8ba1\u65f6\u5668\uff1a<\/strong> \u72b6\u6001\u673a\u5185\u90e8\u7684\u903b\u8f91\uff0c\u7528\u4e8e\u5bf9\u7279\u5b9a\u72b6\u6001\u65bd\u52a0\u65f6\u95f4\u9650\u5236\u3002<\/li>\n
          • \u5fc3\u8df3\u4fe1\u53f7\uff1a<\/strong> \u786e\u4fdd\u63a7\u5236\u56de\u8def\u5904\u4e8e\u6d3b\u52a8\u72b6\u6001\u5e76\u80fd\u54cd\u5e94\u3002<\/li>\n<\/ul>\n

            \u5982\u679c\u6ca1\u6709\u8d85\u65f6\u673a\u5236\uff0c\u4e34\u65f6\u7684\u4f20\u611f\u5668\u6545\u969c\u53ef\u80fd\u4f1a\u4f7f\u673a\u5668\u4eba\u5361\u4f4f\u3002\u8d85\u65f6\u673a\u5236\u53ef\u786e\u4fdd\u7cfb\u7edf\u80fd\u591f\u4f18\u96c5\u6062\u590d\uff0c\u5e76\u5c1d\u8bd5\u91cd\u7f6e\u6216\u8fdb\u5165\u5b89\u5168\u6a21\u5f0f\u3002<\/p>\n

            6. \ud83d\udea8 \u7f3a\u5c11\u9519\u8bef\u6062\u590d\u72b6\u6001<\/h2>\n

            \u8bb8\u591a\u56fe\u53ea\u5173\u6ce8\u201c\u6b63\u5e38\u8def\u5f84\u201d\u3002\u5b83\u4eec\u5c55\u793a\u4e86\u5f53\u4e00\u5207\u987a\u5229\u65f6\u673a\u5668\u4eba\u5982\u4f55\u5de5\u4f5c\u3002\u4f46\u5f88\u5c11\u5c55\u793a\u5f53\u51fa\u73b0\u95ee\u9898\u65f6\u673a\u5668\u4eba\u4f1a\u5982\u4f55\u8868\u73b0\u3002<\/p>\n

            \u673a\u5668\u4eba\u5728\u975e\u7ed3\u6784\u5316\u73af\u5883\u4e2d\u8fd0\u884c\u3002\u5173\u8282\u53ef\u80fd\u5361\u4f4f\uff0c\u7535\u673a\u53ef\u80fd\u8fc7\u70ed\uff0c\u6216\u901a\u4fe1\u53ef\u80fd\u4e2d\u65ad\u3002\u5982\u679c\u6ca1\u6709\u660e\u786e\u7684\u9519\u8bef\u72b6\u6001\uff0c\u7cfb\u7edf\u53ef\u80fd\u4f1a\u5d29\u6e83\u6216\u884c\u4e3a\u4e0d\u53ef\u9884\u6d4b\u3002<\/p>\n

            \u4e00\u4e2a\u5065\u58ee\u7684\u72b6\u6001\u673a\u5e94\u5305\u542b\uff1a<\/p>\n

              \n
            • \u5b89\u5168\u72b6\u6001\uff1a<\/strong> \u4e00\u4e2a\u6307\u5b9a\u72b6\u6001\uff0c\u673a\u5668\u4eba\u5728\u6b64\u505c\u6b62\u6240\u6709\u8fd0\u52a8\u5e76\u7b49\u5f85\u5e72\u9884\u3002<\/li>\n
            • \u6062\u590d\u903b\u8f91\uff1a<\/strong> \u4e3a\u5c1d\u8bd5\u81ea\u52a8\u91cd\u7f6e\u7cfb\u7edf\u800c\u91c7\u53d6\u7684\u6b65\u9aa4\u3002<\/li>\n
            • \u8bca\u65ad\u8f93\u51fa\uff1a<\/strong> \u8bb0\u5f55\u7279\u5b9a\u9519\u8bef\u4ee3\u7801\uff0c\u4ee5\u5e2e\u52a9\u5de5\u7a0b\u5e08\u8bc6\u522b\u6839\u672c\u539f\u56e0\u3002<\/li>\n<\/ul>\n

              \u5ffd\u7565\u9519\u8bef\u72b6\u6001\u4f1a\u5c06\u6545\u969c\u5904\u7406\u7684\u8d23\u4efb\u8f6c\u79fb\u5230\u4ee3\u7801\u751f\u6210\u5c42\uff0c\u800c\u8be5\u5c42\u901a\u5e38\u7f3a\u4e4f\u5904\u7406\u8fb9\u7f18\u60c5\u51b5\u6240\u9700\u7684\u4e0a\u4e0b\u6587\u3002<\/p>\n

              7. \ud83d\udce6 \u6570\u636e\u4f20\u9012\u673a\u5236\u4e0d\u4f73<\/h2>\n

              \u6570\u636e\u901a\u8fc7\u72b6\u6001\u673a\u7684\u8f6c\u6362\u6d41\u52a8\u3002\u5f53\u673a\u5668\u4eba\u4ece\u201c\u63a5\u8fd1\u201d\u72b6\u6001\u8f6c\u79fb\u5230\u201c\u6293\u53d6\u201d\u72b6\u6001\u65f6\uff0c\u9700\u8981\u4f20\u9012\u76ee\u6807\u5750\u6807\u3002\u5982\u679c\u72b6\u6001\u673a\u56fe\u672a\u660e\u786e\u8bf4\u660e\u6570\u636e\u5982\u4f55\u4f20\u9012\uff0c\u4ee3\u7801\u5c06\u96be\u4ee5\u5904\u7406\u3002<\/p>\n

              \u5e38\u89c1\u95ee\u9898\u5305\u62ec\uff1a<\/p>\n

                \n
              • \u5168\u5c40\u53d8\u91cf\uff1a<\/strong> \u4f9d\u8d56\u672a\u540c\u6b65\u7684\u5171\u4eab\u5185\u5b58\u4f1a\u5bfc\u81f4\u7ade\u4e89\u6761\u4ef6\u3002<\/li>\n
              • \u7f3a\u5c11\u53c2\u6570\uff1a<\/strong> \u5728\u7f3a\u4e4f\u5fc5\u8981\u6570\u636e\u4e0a\u4e0b\u6587\u7684\u60c5\u51b5\u4e0b\u5b9a\u4e49\u8f6c\u6362\u3002<\/li>\n
              • \u6570\u636e\u5ef6\u8fdf\uff1a<\/strong> \u4f20\u9012\u5728\u8fdb\u5165\u72b6\u6001\u65f6\u5df2\u8fc7\u65f6\u7684\u6570\u636e\u3002<\/li>\n<\/ul>\n

                \u53c2\u6570\u5e94\u5728\u8f6c\u6362\u4e0a\u660e\u786e\u5b9a\u4e49\u3002\u8fd9\u786e\u4fdd\u63a5\u6536\u72b6\u6001\u5728\u8fdb\u5165\u65f6\u62e5\u6709\u5176\u6240\u9700\u7684\u786e\u5207\u4fe1\u606f\u3002\u540c\u65f6\uff0c\u8fd9\u4e5f\u4f7f\u56fe\u8868\u80fd\u591f\u81ea\u6587\u6863\u5316\u5730\u5c55\u793a\u6570\u636e\u4f9d\u8d56\u5173\u7cfb\u3002<\/p>\n

                8. \ud83c\udff7\ufe0f \u6a21\u7cca\u7684\u72b6\u6001\u547d\u540d\u89c4\u8303<\/h2>\n

                \u72b6\u6001\u673a\u4e2d\u7684\u540d\u79f0\u662f\u8c03\u8bd5\u7684\u4e3b\u8981\u63a5\u53e3\u3002\u50cf\u201cState 1\u201d\u6216\u201cProcess\u201d\u8fd9\u6837\u7684\u6a21\u7cca\u540d\u79f0\u65e0\u6cd5\u63d0\u4f9b\u7cfb\u7edf\u72b6\u6001\u7684\u4efb\u4f55\u4fe1\u606f\u3002\u5728\u590d\u6742\u7684\u673a\u5668\u4eba\u7cfb\u7edf\u4e2d\uff0c\u5de5\u7a0b\u5e08\u9700\u8981\u67e5\u770b\u65e5\u5fd7\u540e\u7acb\u5373\u4e86\u89e3\u7cfb\u7edf\u6b63\u5728\u505a\u4ec0\u4e48\u3002<\/p>\n

                \u826f\u597d\u7684\u547d\u540d\u89c4\u8303\u5e94\u5177\u5907\uff1a<\/p>\n

                  \n
                • \u63cf\u8ff0\u6027\uff1a<\/strong> \u201cWheel_Motor_On\u201d \u6bd4 \u201cRun\u201d \u66f4\u597d\u3002<\/li>\n
                • \u4e00\u81f4\u6027\uff1a<\/strong> \u6240\u6709\u72b6\u6001\u5e94\u4f7f\u7528\u76f8\u540c\u7684\u52a8\u8bcd\u65f6\u6001\u548c\u540d\u8bcd\u7ed3\u6784\u3002<\/li>\n
                • \u552f\u4e00\u6027\uff1a<\/strong> \u907f\u514d\u540d\u79f0\u76f8\u4f3c\u7684\u60c5\u51b5\uff0c\u4f8b\u5982\u201cError\u201d\u548c\u201cError_Handler\u201d\u3002<\/li>\n<\/ul>\n

                  \u4e00\u81f4\u7684\u547d\u540d\u53ef\u4ee5\u964d\u4f4e\u5ba1\u67e5\u4ee3\u7801\u6216\u65e5\u5fd7\u65f6\u7684\u8ba4\u77e5\u8d1f\u8377\u3002\u540c\u65f6\uff0c\u4e5f\u6709\u52a9\u4e8e\u81ea\u52a8\u5316\u5de5\u5177\u57fa\u4e8e\u6a21\u578b\u751f\u6210\u66f4\u4f18\u8d28\u7684\u6587\u6863\u548c\u6d4b\u8bd5\u7528\u4f8b\u3002<\/p>\n

                  \u8868\u683c\uff1a\u5e38\u89c1\u9677\u9631\u4e0e\u6700\u4f73\u5b9e\u8df5<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n
                  \u9886\u57df<\/strong><\/th>\n\u9677\u9631<\/strong><\/th>\n\u6700\u4f73\u5b9e\u8df5<\/strong><\/th>\n<\/tr>\n<\/thead>\n
                  \u5165\u53e3\u70b9<\/td>\n\u672a\u5b9a\u4e49\u521d\u59cb\u72b6\u6001<\/td>\n\u5e26\u6709\u521d\u59cb\u5316\u903b\u8f91\u7684\u663e\u5f0f\u5165\u53e3\u70b9<\/td>\n<\/tr>\n
                  \u6d41\u7a0b\u63a7\u5236<\/td>\n\u7531\u4e8e\u7f3a\u5c11\u8f6c\u6362\u5bfc\u81f4\u7684\u6b7b\u9501<\/td>\n\u786e\u4fdd\u6bcf\u4e2a\u72b6\u6001\u90fd\u6709\u9000\u51fa\u8def\u5f84<\/td>\n<\/tr>\n
                  \u5e76\u884c\u6027<\/td>\n\u5e76\u884c\u4efb\u52a1\u7684\u987a\u5e8f\u5904\u7406<\/td>\n\u4e3a\u72ec\u7acb\u6d3b\u52a8\u4f7f\u7528\u5e76\u884c\u533a\u57df<\/td>\n<\/tr>\n
                  \u903b\u8f91<\/td>\n\u590d\u6742\u7684\u5b88\u536b\u6761\u4ef6<\/td>\n\u5c06\u903b\u8f91\u79fb\u81f3\u72b6\u6001\u52a8\u4f5c\uff0c\u4fdd\u6301\u5b88\u536b\u7b80\u5355<\/td>\n<\/tr>\n
                  \u5b9a\u65f6<\/td>\n\u7b49\u5f85\u72b6\u6001\u4e0a\u6ca1\u6709\u8d85\u65f6<\/td>\n\u5b9e\u73b0\u770b\u95e8\u72d7\u548c\u5185\u90e8\u8ba1\u65f6\u5668<\/td>\n<\/tr>\n
                  \u53ef\u9760\u6027<\/td>\n\u7f3a\u5c11\u9519\u8bef\u72b6\u6001<\/td>\n\u660e\u786e\u5b9a\u4e49\u5b89\u5168\u72b6\u6001\u548c\u6062\u590d\u72b6\u6001<\/td>\n<\/tr>\n
                  \u6570\u636e<\/td>\n\u9690\u5f0f\u5168\u5c40\u6570\u636e\u5171\u4eab<\/td>\n\u901a\u8fc7\u8f6c\u6362\u53c2\u6570\u663e\u5f0f\u4f20\u9012\u6570\u636e<\/td>\n<\/tr>\n
                  \u6587\u6863<\/td>\n\u72b6\u6001\u540d\u79f0\u4e0d\u660e\u786e<\/td>\n\u4f7f\u7528\u63cf\u8ff0\u6027\u5f3a\u4e14\u4e00\u81f4\u7684\u547d\u540d\u7ea6\u5b9a<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                  \u5b9e\u73b0\u6ce8\u610f\u4e8b\u9879<\/h2>\n

                  \u4e00\u65e6\u56fe\u8868\u786e\u5b9a\uff0c\u8f6c\u6362\u4e3a\u4ee3\u7801\u5c31\u9700\u8981\u8c28\u614e\u3002\u6a21\u578b\u5e94\u9a71\u52a8\u5b9e\u73b0\uff0c\u800c\u4e0d\u662f\u53cd\u8fc7\u6765\u3002\u4fee\u6539\u4ee3\u7801\u4ee5\u7ed5\u8fc7\u72b6\u6001\u673a\u7ea6\u675f\u901a\u5e38\u4f1a\u5bfc\u81f4\u6280\u672f\u503a\u52a1\u3002<\/p>\n

                  \u4ee3\u7801\u751f\u6210\u5668\u53ef\u4ee5\u5e2e\u52a9\u5f25\u5408\u8fd9\u4e00\u5dee\u8ddd\u3002\u5b83\u4eec\u786e\u4fdd\u8fd0\u884c\u65f6\u4e0e\u8bbe\u8ba1\u5b8c\u5168\u4e00\u81f4\u3002\u7136\u800c\uff0c\u4ec5\u4f9d\u8d56\u751f\u6210\u800c\u4e0d\u61c2\u5e95\u5c42\u903b\u8f91\u662f\u5371\u9669\u7684\u3002\u5de5\u7a0b\u5e08\u5fc5\u987b\u80fd\u591f\u9605\u8bfb\u751f\u6210\u7684\u4ee3\u7801\uff0c\u5e76\u9a8c\u8bc1\u5176\u662f\u5426\u7b26\u5408\u56fe\u8868\u7684\u610f\u56fe\u3002<\/p>\n

                  \u6d4b\u8bd5\u72b6\u6001\u673a<\/h3>\n

                  \u5355\u5143\u6d4b\u8bd5\u81f3\u5173\u91cd\u8981\u3002\u6bcf\u4e2a\u72b6\u6001\u548c\u8f6c\u6362\u90fd\u5e94\u72ec\u7acb\u9a8c\u8bc1\u3002\u96c6\u6210\u6d4b\u8bd5\u786e\u4fdd\u72b6\u6001\u53d8\u5316\u4e0d\u4f1a\u5728\u7cfb\u7edf\u5176\u4ed6\u90e8\u5206\u5f15\u8d77\u526f\u4f5c\u7528\u3002<\/p>\n

                    \n
                  • \u8f6c\u6362\u6d4b\u8bd5\uff1a<\/strong> \u786e\u4fdd\u7279\u5b9a\u8f93\u5165\u89e6\u53d1\u6b63\u786e\u7684\u72b6\u6001\u53d8\u5316\u3002<\/li>\n
                  • \u72b6\u6001\u9a8c\u8bc1\uff1a<\/strong> \u786e\u4fdd\u7cfb\u7edf\u5728\u6709\u6548\u9000\u51fa\u6761\u4ef6\u53d1\u751f\u524d\u4fdd\u6301\u5728\u8be5\u72b6\u6001\u3002<\/li>\n
                  • \u538b\u529b\u6d4b\u8bd5\uff1a<\/strong> \u5728\u8d1f\u8f7d\u4e0b\u8fd0\u884c\u7cfb\u7edf\uff0c\u4ee5\u68c0\u67e5\u662f\u5426\u5b58\u5728\u65f6\u5e8f\u95ee\u9898\u6216\u7ade\u4e89\u6761\u4ef6\u3002<\/li>\n<\/ul>\n

                    \u6a21\u62df\u73af\u5883\u5141\u8bb8\u5b89\u5168\u5730\u6d4b\u8bd5\u6545\u969c\u6a21\u5f0f\u3002\u5de5\u7a0b\u5e08\u53ef\u4ee5\u5f15\u5165\u4f20\u611f\u5668\u6545\u969c\u6216\u901a\u4fe1\u5ef6\u8fdf\uff0c\u4ee5\u89c2\u5bdf\u72b6\u6001\u673a\u7684\u53cd\u5e94\uff0c\u800c\u4e0d\u4f1a\u5371\u53ca\u786c\u4ef6\u3002<\/p>\n

                    \u4e0d\u826f\u5efa\u6a21\u7684\u4ee3\u4ef7<\/h2>\n

                    \u5728\u56fe\u4e2d\u4fee\u590d\u72b6\u6001\u673a\u6210\u672c\u4f4e\u5ec9\u3002\u5728\u5df2\u90e8\u7f72\u7684\u4ee3\u7801\u4e2d\u4fee\u590d\u5219\u4ee3\u4ef7\u9ad8\u6602\u3002\u5728\u673a\u5668\u4eba\u9886\u57df\uff0c\u903b\u8f91\u9519\u8bef\u53ef\u80fd\u5bfc\u81f4\u673a\u5668\u4eba\u6216\u73af\u5883\u7684\u7269\u7406\u635f\u574f\uff0c\u4e5f\u53ef\u80fd\u5bfc\u81f4\u64cd\u4f5c\u4eba\u5458\u53d7\u4f24\u3002<\/p>\n

                    \u6295\u5165\u65f6\u95f4\u8fdb\u884c\u4e25\u8c28\u7684\u8bbe\u8ba1\u8fc7\u7a0b\uff0c\u5c06\u5728\u7a33\u5b9a\u6027\u65b9\u9762\u83b7\u5f97\u56de\u62a5\u3002\u4e00\u4e2a\u6587\u6863\u9f50\u5168\u7684\u72b6\u6001\u673a\u53ef\u4f5c\u4e3a\u6574\u4e2a\u5f00\u53d1\u56e2\u961f\u7684\u552f\u4e00\u53ef\u4fe1\u6765\u6e90\u3002\u5b83\u6709\u52a9\u4e8e\u786c\u4ef6\u548c\u8f6f\u4ef6\u5de5\u7a0b\u5e08\u4e4b\u95f4\u66f4\u597d\u5730\u534f\u4f5c\u3002<\/p>\n

                    \u5173\u952e\u8981\u70b9\u603b\u7ed3<\/h2>\n

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