{"id":11199,"date":"2026-04-09T21:46:54","date_gmt":"2026-04-09T13:46:54","guid":{"rendered":"https:\/\/www.archimetric.com\/tw\/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\/tw\/common-state-machine-mistakes-robotics-code\/","title":{"rendered":"\u5c0e\u81f4\u6a5f\u5668\u4eba\u7a0b\u5f0f\u78bc\u5931\u6548\u7684\u72c0\u614b\u6a5f\u5716\u5e38\u898b\u932f\u8aa4"},"content":{"rendered":"

\u8a2d\u8a08\u81ea\u4e3b\u7cfb\u7d71\u7684\u63a7\u5236\u908f\u8f2f\u9700\u8981\u7cbe\u78ba\u6027\u3002\u7576\u5de5\u7a0b\u5e2b\u5f9e\u6982\u5ff5\u8f49\u5411\u5be6\u73fe\u6642\uff0c\u7d71\u4e00\u5efa\u6a21\u8a9e\u8a00\uff08UML\uff09\u7684\u72c0\u614b\u6a5f\u5716\u901a\u5e38\u4f5c\u70ba\u85cd\u5716\u3002\u7136\u800c\uff0c\u5716\u793a\u8207\u5be6\u969b\u7a0b\u5f0f\u78bc\u4e4b\u9593\u7684\u812b\u7bc0\uff0c\u53ef\u80fd\u5c0e\u81f4\u6a5f\u5668\u4eba\u74b0\u5883\u4e2d\u707d\u96e3\u6027\u7684\u5931\u6557\u3002\u4e00\u500b\u672c\u61c9\u79fb\u52d5\u537b\u9072\u7591\u7684\u6a5f\u5668\u4eba\uff0c\u6216\u662f\u5728\u57f7\u884c\u7c21\u55ae\u4efb\u52d9\u6642\u9677\u5165\u7121\u9650\u5faa\u74b0\u7684\u6a5f\u5668\u4eba\uff0c\u901a\u5e38\u6e90\u65bc\u72c0\u614b\u6a5f\u67b6\u69cb\u4e2d\u7684\u6839\u672c\u6027\u932f\u8aa4\u3002<\/p>\n

\u5efa\u7acb\u53ef\u9760\u7684\u5d4c\u5165\u5f0f\u8edf\u9ad4\u4e0d\u50c5\u50c5\u662f\u756b\u65b9\u6846\u548c\u7bad\u982d\u9019\u9ebc\u7c21\u55ae\u3002\u5b83\u9700\u8981\u5c0d\u57f7\u884c\u6d41\u7a0b\u3001\u6642\u5e8f\u548c\u8cc7\u6e90\u7ba1\u7406\u6709\u6df1\u5165\u7684\u7406\u89e3\u3002\u672c\u6307\u5357\u63a2\u8a0e\u6703\u640d\u5bb3\u6a5f\u5668\u4eba\u72c0\u614b\u6a5f\u7684\u5177\u9ad4\u9677\u9631\u3002\u900f\u904e\u8b58\u5225\u9019\u4e9b\u7d50\u69cb\u4e0a\u7684\u5f31\u9ede\uff0c\u958b\u767c\u8005\u53ef\u78ba\u4fdd\u5176\u7cfb\u7d71\u5728\u73fe\u5be6\u4e16\u754c\u90e8\u7f72\u4e2d\u5177\u5099\u6240\u9700\u7684\u7a69\u5b9a\u6027\u3002<\/p>\n

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

1. \ud83d\udeab \u7f3a\u5c11\u521d\u59cb\u72c0\u614b<\/h2>\n

\u4efb\u4f55\u6709\u9650\u72c0\u614b\u6a5f\uff08FSM\uff09\u7684\u57fa\u790e\u662f\u521d\u59cb\u72c0\u614b\u3002\u9019\u662f\u7cfb\u7d71\u5728\u4e0a\u96fb\u6216\u91cd\u7f6e\u5f8c\u958b\u59cb\u904b\u4f5c\u7684\u5165\u53e3\u9ede\u3002\u5716\u793a\u8a2d\u8a08\u4e2d\u4e00\u500b\u5e38\u898b\u932f\u8aa4\u662f\u907a\u6f0f\u9019\u500b\u8d77\u59cb\u9ede\uff0c\u6216\u4f7f\u5176\u542b\u7cca\u4e0d\u6e05\u3002<\/p>\n

\u7576\u5f9e\u7f3a\u4e4f\u660e\u78ba\u5165\u53e3\u72c0\u614b\u7684\u5716\u793a\u751f\u6210\u7a0b\u5f0f\u78bc\u6642\uff0c\u57f7\u884c\u74b0\u5883\u901a\u5e38\u6703\u9810\u8a2d\u70ba\u4efb\u610f\u72c0\u614b\u3002\u5728\u6a5f\u5668\u4eba\u60c5\u5883\u4e0b\uff0c\u9019\u610f\u5473\u8457\u6a5f\u5668\u4eba\u53ef\u80fd\u5728\u672c\u61c9\u8655\u65bc\u300c\u7a7a\u9592\u300d\u72c0\u614b\u6642\u537b\u5f9e\u300c\u79fb\u52d5\u300d\u72c0\u614b\u958b\u59cb\u904b\u4f5c\u3002\u9019\u53ef\u80fd\u5c0e\u81f4\u57f7\u884c\u5668\u7acb\u5373\u555f\u52d5\uff0c\u9032\u800c\u5f15\u767c\u5b89\u5168\u96b1\u60a3\u3002<\/p>\n

    \n
  • \u672a\u5b9a\u7fa9\u7684\u8d77\u59cb\u9ede\uff1a<\/strong> \u7a0b\u5f0f\u78bc\u5047\u8a2d\u67d0\u72c0\u614b\u5b58\u5728\uff0c\u537b\u672a\u9a57\u8b49\u5176\u662f\u5426\u70ba\u6b63\u78ba\u7684\u5165\u53e3\u9ede\u3002<\/li>\n
  • \u4e0a\u96fb\u5faa\u74b0\u554f\u984c\uff1a<\/strong> \u91cd\u65b0\u555f\u52d5\u6642\uff0c\u6a5f\u5668\u4eba\u53ef\u80fd\u4fdd\u7559\u524d\u4e00\u6b21\u6703\u8a71\u7684\u8cc7\u6599\uff0c\u537b\u672a\u80fd\u91cd\u7f6e\u63a7\u5236\u908f\u8f2f\u3002<\/li>\n
  • \u521d\u59cb\u5316\u908f\u8f2f\uff1a<\/strong> \u82e5\u7121\u5c08\u5c6c\u7684\u521d\u59cb\u72c0\u614b\uff0c\u521d\u59cb\u5316\u5e8f\u5217\u901a\u5e38\u6703\u5206\u6563\u5728\u591a\u500b\u8f49\u79fb\u51fd\u6578\u4e2d\u3002<\/li>\n<\/ul>\n

    \u6bcf\u4e00\u500b\u7a69\u5065\u7684\u72c0\u614b\u6a5f\u90fd\u5fc5\u9808\u660e\u78ba\u5b9a\u7fa9\u5165\u53e3\u689d\u4ef6\u3002\u9019\u78ba\u4fdd\u611f\u6e2c\u5668\u5df2\u6821\u6e96\u3001\u57f7\u884c\u5668\u5df2\u5236\u52d5\uff0c\u4e14\u908f\u8f2f\u63a7\u5236\u5668\u5728\u6a5f\u5668\u4eba\u63a5\u53d7\u5916\u90e8\u6307\u4ee4\u524d\u5df2\u6e96\u5099\u5c31\u7dd2\u3002<\/p>\n

    2. \u23f8\ufe0f \u6b7b\u9396\u8207\u907a\u6f0f\u7684\u8f49\u79fb<\/h2>\n

    \u7576\u7cfb\u7d71\u9032\u5165\u4e00\u500b\u7121\u6cd5\u9032\u884c\u4efb\u4f55\u8f49\u79fb\u7684\u72c0\u614b\u6642\uff0c\u5c31\u6703\u767c\u751f\u6b7b\u9396\u3002\u5728\u5716\u793a\u4e2d\uff0c\u9019\u8868\u73fe\u70ba\u4e00\u500b\u6c92\u6709\u4efb\u4f55\u5916\u51fa\u7bad\u982d\u7684\u65b9\u6846\u3002\u5728\u7a0b\u5f0f\u78bc\u4e2d\uff0c\u5247\u8868\u73fe\u70ba\u5361\u9813\u6216\u51cd\u7d50\u3002<\/p>\n

    \u6a5f\u5668\u4eba\u904b\u4f5c\u65bc\u52d5\u614b\u74b0\u5883\u4e2d\u3002\u82e5\u611f\u6e2c\u5668\u7121\u6cd5\u56de\u5831\u8cc7\u6599\uff0c\u6a5f\u5668\u4eba\u4e0d\u61c9\u7121\u9650\u671f\u505c\u6b62\u3002\u4e00\u500b\u7b49\u5f85\u6c38\u9060\u4e0d\u6703\u767c\u751f\u7684\u689d\u4ef6\u7684\u72c0\u614b\u6a5f\u6703\u9020\u6210\u6b7b\u9396\u3002\u9019\u5728\u5c0e\u822a\u4efb\u52d9\u4e2d\u5c24\u5176\u5371\u96aa\uff0c\u56e0\u70ba\u6a5f\u5668\u4eba\u53ef\u80fd\u7b49\u5f85\u4e00\u689d\u88ab\u969c\u7919\u7269\u963b\u64cb\u800c\u7121\u6cd5\u6e05\u9664\u7684\u8def\u5f91\u3002<\/p>\n

    \u6b7b\u9396\u7684\u5e38\u898b\u539f\u56e0\u5305\u62ec\uff1a<\/p>\n

      \n
    • \u7121\u6cd5\u5230\u9054\u7684\u72c0\u614b\uff1a<\/strong> \u5716\u793a\u4e2d\u96d6\u6709\u5b9a\u7fa9\uff0c\u4f46\u5f9e\u672a\u8207\u4e3b\u6d41\u7a0b\u9023\u63a5\u7684\u72c0\u614b\u3002<\/li>\n
    • \u907a\u6f0f\u9810\u8a2d\u8f49\u79fb\uff1a<\/strong> \u672a\u5b9a\u7fa9\u7528\u65bc\u8655\u7406\u610f\u5916\u8f38\u5165\u7684\u300c\u842c\u80fd\u300d\u8f49\u79fb\u3002<\/li>\n
    • \u908f\u8f2f\u77db\u76fe\uff1a<\/strong> \u4e92\u65a5\u7684\u4fdd\u8b77\u689d\u4ef6\uff0c\u5c0e\u81f4\u7121\u8def\u53ef\u8d70\u3002<\/li>\n<\/ul>\n

      \u70ba\u907f\u514d\u6b64\u985e\u554f\u984c\uff0c\u6bcf\u500b\u72c0\u614b\u90fd\u61c9\u6709\u660e\u78ba\u7684\u9000\u51fa\u8def\u5f91\u3002\u82e5\u9810\u671f\u689d\u4ef6\u5728\u7279\u5b9a\u6642\u9593\u5167\u672a\u9054\u6210\uff0c\u7cfb\u7d71\u61c9\u8f49\u79fb\u5230\u903e\u6642\u6216\u932f\u8aa4\u72c0\u614b\uff0c\u800c\u975e\u7121\u9650\u7b49\u5f85\u3002<\/p>\n

      3. \ud83d\udd04 \u4e26\u767c\u7ba1\u7406\u5931\u7576<\/h2>\n

      \u6a5f\u5668\u4eba\u7d93\u5e38\u540c\u6642\u57f7\u884c\u591a\u9805\u4efb\u52d9\u3002\u7121\u4eba\u6a5f\u53ef\u80fd\u9700\u8981\u5728\u6383\u63cf\u969c\u7919\u7269\u7684\u540c\u6642\u7a69\u5b9a\u98db\u884c\u3002\u7c21\u55ae\u7684\u9806\u5e8f\u72c0\u614b\u6a5f\u7121\u6cd5\u8655\u7406\u6b64\u985e\u60c5\u6cc1\u3002\u5de5\u7a0b\u5e2b\u6709\u6642\u8a66\u5716\u900f\u904e\u5d4c\u5957\u72c0\u614b\u4f86\u6a21\u64ec\u4e26\u767c\uff0c\u4f46\u9019\u901a\u5e38\u5c0e\u81f4\u8907\u96dc\u4e14\u96e3\u4ee5\u7dad\u8b77\u7684\u908f\u8f2f\u3002<\/p>\n

      \u771f\u6b63\u7684\u4e26\u767c\u9700\u8981\u72c0\u614b\u6a5f\u5167\u8a2d\u6709\u5e73\u884c\u5340\u57df\u3002\u82e5\u5716\u793a\u986f\u793a\u5e73\u884c\u4efb\u52d9\u50c5\u6709\u4e00\u689d\u6d41\u7a0b\uff0c\u751f\u6210\u7684\u7a0b\u5f0f\u78bc\u5f88\u53ef\u80fd\u6703\u4f9d\u6b21\u57f7\u884c\u9019\u4e9b\u4efb\u52d9\u3002\u9019\u6703\u5f15\u5165\u5ef6\u9072\uff0c\u5c0d\u65bc\u9ad8\u901f\u63a7\u5236\u8ff4\u8def\u800c\u8a00\u53ef\u80fd\u7121\u6cd5\u63a5\u53d7\u3002<\/p>\n

        \n
      • \u4ea4\u932f\u57f7\u884c\uff1a<\/strong> \u5c0d\u5e73\u884c\u4efb\u52d9\u9032\u884c\u9806\u5e8f\u8655\u7406\uff0c\u6703\u5c0e\u81f4\u95dc\u9375\u64cd\u4f5c\u51fa\u73fe\u5ef6\u9072\u3002<\/li>\n
      • \u8cc7\u6e90\u7af6\u722d\uff1a<\/strong> \u591a\u500b\u72c0\u614b\u540c\u6642\u5617\u8a66\u5b58\u53d6\u76f8\u540c\u7684\u786c\u9ad4\u8cc7\u6e90\uff0c\u537b\u672a\u9032\u884c\u540c\u6b65\u3002<\/li>\n
      • \u72c0\u614b\u7206\u70b8\uff1a<\/strong> \u8a66\u5716\u6a21\u64ec\u6240\u6709\u4e26\u884c\u4efb\u52d9\u7684\u7d44\u5408\uff0c\u6703\u5c0e\u81f4\u72c0\u614b\u6578\u91cf\u5448\u7d44\u5408\u7206\u70b8\u5f0f\u589e\u9577\u3002<\/li>\n<\/ul>\n

        \u6b63\u78ba\u7684\u5efa\u6a21\u9700\u8981\u8b58\u5225\u7368\u7acb\u7684\u6d3b\u52d5\uff0c\u4e26\u5c07\u5b83\u5011\u5206\u914d\u5230\u4e0d\u540c\u7684\u4e26\u884c\u5340\u57df\u3002\u9019\u4f7f\u5f97\u57f7\u884c\u6642\u80fd\u5920\u9ad8\u6548\u6392\u7a0b\uff0c\u5f7c\u6b64\u4e4b\u9593\u4e0d\u6703\u4e92\u76f8\u963b\u585e\u3002<\/p>\n

        4. \ud83d\uded1 \u689d\u4ef6\u904e\u65bc\u8907\u96dc<\/h2>\n

        \u689d\u4ef6\u5224\u65b7\u662f\u6c7a\u5b9a\u8f49\u79fb\u662f\u5426\u80fd\u767c\u751f\u7684\u908f\u8f2f\u8868\u9054\u5f0f\u3002\u96d6\u7136\u5c0d\u63a7\u5236\u81f3\u95dc\u91cd\u8981\uff0c\u4f46\u904e\u65bc\u8907\u96dc\u7684\u689d\u4ef6\u6703\u4f7f\u908f\u8f2f\u6d41\u7a0b\u8b8a\u5f97\u6a21\u7cca\u3002\u4e00\u500b\u8de8\u8d8a\u4e94\u884c\u4ee3\u78bc\u7684\u689d\u4ef6\u96e3\u4ee5\u8abf\u8a66\u548c\u9a57\u8b49\u3002<\/p>\n

        \u5728\u6a5f\u5668\u4eba\u9818\u57df\uff0c\u611f\u6e2c\u5668\u6703\u63d0\u4f9b\u96dc\u8a0a\u8cc7\u6599\u3002\u4f9d\u8cf4\u540c\u6642\u591a\u500b\u611f\u6e2c\u5668\u8b80\u53d6\u7d50\u679c\u7684\u689d\u4ef6\u5224\u65b7\u5bb9\u6613\u7522\u751f\u7af6\u614b\u689d\u4ef6\u3002\u82e5\u67d0\u4e00\u611f\u6e2c\u5668\u7a0d\u65e9\u66f4\u65b0\uff0c\u908f\u8f2f\u53ef\u80fd\u7522\u751f\u8207\u9810\u671f\u4e0d\u540c\u7684\u8a55\u4f30\u7d50\u679c\u3002<\/p>\n

        \u8907\u96dc\u7684\u689d\u4ef6\u6703\u5c0e\u81f4\uff1a<\/p>\n

          \n
        • \u96b1\u85cf\u7684\u4f9d\u8cf4\u95dc\u4fc2\uff1a<\/strong> \u8a55\u4f30\u9806\u5e8f\u81f3\u95dc\u91cd\u8981\uff0c\u4f46\u5716\u793a\u4e2d\u4e26\u672a\u660e\u78ba\u986f\u793a\u3002<\/li>\n
        • \u8abf\u8a66\u56f0\u96e3\uff1a<\/strong> \u7576\u8f49\u79fb\u7121\u6cd5\u89f8\u767c\u6642\uff0c\u5f88\u96e3\u5224\u65b7\u662f\u689d\u4ef6\u4e2d\u7684\u54ea\u4e00\u90e8\u5206\u5931\u6557\u4e86\u3002<\/li>\n
        • \u7a0b\u5f0f\u78bc\u81a8\u8139\uff1a<\/strong> \u8907\u96dc\u7684\u908f\u8f2f\u7d93\u5e38\u5728\u591a\u500b\u8f49\u79fb\u4e2d\u91cd\u8907\u51fa\u73fe\u3002<\/li>\n<\/ul>\n

          \u66f4\u597d\u7684\u505a\u6cd5\u662f\u7c21\u5316\u689d\u4ef6\u5224\u65b7\u3002\u5c07\u8907\u96dc\u908f\u8f2f\u79fb\u81f3\u72c0\u614b\u7684\u9032\u5165\u6216\u9000\u51fa\u52d5\u4f5c\u4e2d\u3002\u9019\u80fd\u8b93\u8f49\u79fb\u4fdd\u6301\u7c21\u6f54\uff0c\u4e26\u4f7f\u72c0\u614b\u5716\u6613\u65bc\u95b1\u8b80\u3002\u4f8b\u5982\uff0c\u4e0d\u5fc5\u5728\u6bcf\u500b\u8f49\u79fb\u4e2d\u90fd\u6aa2\u67e5\u96fb\u6c60\u96fb\u91cf\uff0c\u800c\u662f\u5728\u9032\u5165\u300c\u4f4e\u96fb\u91cf\u300d\u72c0\u614b\u6642\u50c5\u6aa2\u67e5\u4e00\u6b21\u5373\u53ef\u3002<\/p>\n

          5. \u23f1\ufe0f \u5ffd\u7565\u8d85\u6642\u8207\u770b\u9580\u72d7<\/h2>\n

          \u5373\u6642\u7cfb\u7d71\u9700\u8981\u5177\u5099\u6642\u9593\u610f\u8b58\u3002\u50c5\u4f9d\u8cf4\u4e8b\u4ef6\u89f8\u767c\u7684\u72c0\u614b\u6a5f\u6975\u70ba\u8106\u5f31\u3002\u82e5\u4e8b\u4ef6\u6c38\u9060\u4e0d\u6703\u5230\u9054\uff0c\u6a5f\u5668\u4eba\u5c07\u7121\u9650\u671f\u7b49\u5f85\u3002<\/p>\n

          \u5be6\u4f5c\u8d85\u6642\u6a5f\u5236\u5c0d\u7cfb\u7d71\u7684\u97cc\u6027\u81f3\u95dc\u91cd\u8981\u3002\u6bcf\u500b\u72c0\u614b\u90fd\u61c9\u8a2d\u6709\u6700\u5927\u6301\u7e8c\u6642\u9593\u3002\u82e5\u8f49\u79fb\u689d\u4ef6\u672a\u9054\u6210\uff0c\u8a08\u6642\u5668\u5c07\u89f8\u767c\u5099\u7528\u72c0\u614b\u3002<\/p>\n

            \n
          • \u786c\u9ad4\u770b\u9580\u72d7\uff1a<\/strong> \u7576\u8edf\u9ad4\u5361\u4f4f\u6642\uff0c\u53ef\u91cd\u7f6e\u7cfb\u7d71\u7684\u5916\u90e8\u6a5f\u5236\u3002<\/li>\n
          • \u5167\u90e8\u8a08\u6642\u5668\uff1a<\/strong> \u72c0\u614b\u6a5f\u5167\u90e8\u7684\u908f\u8f2f\uff0c\u7528\u4ee5\u5f37\u5236\u57f7\u884c\u7279\u5b9a\u72c0\u614b\u7684\u6642\u9593\u9650\u5236\u3002<\/li>\n
          • \u5fc3\u8df3\u4fe1\u865f\uff1a<\/strong> \u78ba\u4fdd\u63a7\u5236\u8ff4\u8def\u8655\u65bc\u6d3b\u8e8d\u72c0\u614b\u4e26\u80fd\u56de\u61c9\u3002<\/li>\n<\/ul>\n

            \u82e5\u7121\u8d85\u6642\u6a5f\u5236\uff0c\u66ab\u6642\u7684\u611f\u6e2c\u5668\u6545\u969c\u53ef\u80fd\u5c0e\u81f4\u6a5f\u5668\u4eba\u5361\u4f4f\u3002\u8d85\u6642\u6a5f\u5236\u53ef\u78ba\u4fdd\u7cfb\u7d71\u80fd\u9806\u5229\u6062\u5fa9\uff0c\u4e26\u5617\u8a66\u91cd\u7f6e\u6216\u9032\u5165\u5b89\u5168\u6a21\u5f0f\u3002<\/p>\n

            6. \ud83d\udea8 \u7f3a\u4e4f\u932f\u8aa4\u6062\u5fa9\u72c0\u614b<\/h2>\n

            \u8a31\u591a\u5716\u793a\u50c5\u95dc\u6ce8\u300c\u9806\u5229\u8def\u5f91\u300d\u3002\u5b83\u5011\u5c55\u793a\u6a5f\u5668\u4eba\u5728\u4e00\u5207\u9806\u5229\u6642\u5982\u4f55\u904b\u4f5c\uff0c\u537b\u5f88\u5c11\u986f\u793a\u7576\u7cfb\u7d71\u51fa\u73fe\u554f\u984c\u6642\u6a5f\u5668\u4eba\u7684\u884c\u70ba\u3002<\/p>\n

            \u6a5f\u5668\u4eba\u904b\u4f5c\u65bc\u975e\u7d50\u69cb\u5316\u74b0\u5883\u4e2d\u3002\u95dc\u7bc0\u53ef\u80fd\u5361\u4f4f\uff0c\u99ac\u9054\u53ef\u80fd\u904e\u71b1\uff0c\u6216\u901a\u8a0a\u53ef\u80fd\u4e2d\u65b7\u3002\u82e5\u672a\u660e\u78ba\u8a2d\u7f6e\u932f\u8aa4\u72c0\u614b\uff0c\u7cfb\u7d71\u53ef\u80fd\u7576\u6a5f\u6216\u884c\u70ba\u4e0d\u53ef\u9810\u6e2c\u3002<\/p>\n

            \u4e00\u500b\u7a69\u5065\u7684\u72c0\u614b\u6a5f\u61c9\u5305\u542b\uff1a<\/p>\n

              \n
            • \u5b89\u5168\u72c0\u614b\uff1a<\/strong> \u4e00\u500b\u6307\u5b9a\u7684\u72c0\u614b\uff0c\u6a5f\u5668\u4eba\u5728\u8a72\u72c0\u614b\u4e0b\u6703\u505c\u6b62\u6240\u6709\u904b\u52d5\u4e26\u7b49\u5f85\u5e72\u9810\u3002<\/li>\n
            • \u6062\u5fa9\u908f\u8f2f\uff1a<\/strong> \u70ba\u5617\u8a66\u81ea\u52d5\u91cd\u7f6e\u7cfb\u7d71\u800c\u63a1\u53d6\u7684\u6b65\u9a5f\u3002<\/li>\n
            • \u8a3a\u65b7\u8f38\u51fa\uff1a<\/strong> \u8a18\u9304\u7279\u5b9a\u7684\u932f\u8aa4\u4ee3\u78bc\uff0c\u4ee5\u5e6b\u52a9\u5de5\u7a0b\u5e2b\u8b58\u5225\u6839\u672c\u539f\u56e0\u3002<\/li>\n<\/ul>\n

              \u5ffd\u7565\u932f\u8aa4\u72c0\u614b\u6703\u5c07\u5931\u6557\u8655\u7406\u7684\u8cac\u4efb\u8f49\u79fb\u5230\u4ee3\u78bc\u751f\u6210\u5c64\uff0c\u800c\u8a72\u5c64\u901a\u5e38\u7f3a\u4e4f\u8655\u7406\u908a\u969b\u60c5\u6cc1\u6240\u9700\u7684\u4e0a\u4e0b\u6587\u3002<\/p>\n

              7. \ud83d\udce6 \u6548\u80fd\u4e0d\u4f73\u7684\u8cc7\u6599\u50b3\u905e\u6a5f\u5236<\/h2>\n

              \u8cc7\u6599\u900f\u904e\u8f49\u79fb\u5728\u72c0\u614b\u6a5f\u4e2d\u6d41\u52d5\u3002\u7576\u6a5f\u5668\u4eba\u5f9e\u300c\u63a5\u8fd1\u4e2d\u300d\u79fb\u52d5\u5230\u300c\u6293\u53d6\u4e2d\u300d\u6642\uff0c\u9700\u8981\u50b3\u905e\u76ee\u6a19\u5ea7\u6a19\u3002\u5982\u679c\u72c0\u614b\u6a5f\u5716\u672a\u660e\u78ba\u5b9a\u7fa9\u8cc7\u6599\u5982\u4f55\u50b3\u905e\uff0c\u7a0b\u5f0f\u78bc\u5c07\u6703\u9047\u5230\u56f0\u96e3\u3002<\/p>\n

              \u5e38\u898b\u554f\u984c\u5305\u62ec\uff1a<\/p>\n

                \n
              • \u5168\u57df\u8b8a\u6578\uff1a<\/strong> \u4f9d\u8cf4\u672a\u540c\u6b65\u7684\u5171\u4eab\u8a18\u61b6\u9ad4\u6703\u5c0e\u81f4\u7af6\u614b\u689d\u4ef6\u3002<\/li>\n
              • \u7f3a\u5c11\u53c3\u6578\uff1a<\/strong> \u5728\u7f3a\u4e4f\u5fc5\u8981\u8cc7\u6599\u4e0a\u4e0b\u6587\u7684\u60c5\u6cc1\u4e0b\u5b9a\u7fa9\u8f49\u79fb\u3002<\/li>\n
              • \u8cc7\u6599\u5ef6\u9072\uff1a<\/strong> \u50b3\u905e\u5728\u72c0\u614b\u9032\u5165\u6642\u5df2\u904e\u6642\u7684\u8cc7\u6599\u3002<\/li>\n<\/ul>\n

                \u53c3\u6578\u61c9\u5728\u8f49\u79fb\u4e0a\u660e\u78ba\u5b9a\u7fa9\u3002\u9019\u78ba\u4fdd\u63a5\u6536\u72c0\u614b\u5728\u9032\u5165\u6642\u64c1\u6709\u5176\u6240\u9700\u7684\u7cbe\u78ba\u8cc7\u8a0a\u3002\u540c\u6642\u4e5f\u4f7f\u5716\u8868\u80fd\u81ea\u884c\u8aaa\u660e\u8cc7\u6599\u4f9d\u8cf4\u95dc\u4fc2\u3002<\/p>\n

                8. \ud83c\udff7\ufe0f \u6a21\u7cca\u7684\u72c0\u614b\u547d\u540d\u898f\u7bc4<\/h2>\n

                \u72c0\u614b\u6a5f\u4e2d\u7684\u540d\u7a31\u662f\u8abf\u8a66\u7684\u4e3b\u8981\u4ecb\u9762\u3002\u50cf\u300c\u72c0\u614b 1\u300d\u6216\u300c\u8655\u7406\u300d\u9019\u6a23\u6a21\u7cca\u7684\u540d\u7a31\u7121\u6cd5\u63d0\u4f9b\u7cfb\u7d71\u72c0\u614b\u7684\u4efb\u4f55\u8cc7\u8a0a\u3002\u5728\u8907\u96dc\u7684\u6a5f\u5668\u4eba\u7cfb\u7d71\u4e2d\uff0c\u5de5\u7a0b\u5e2b\u9700\u8981\u67e5\u770b\u65e5\u8a8c\u5f8c\u7acb\u5373\u77e5\u9053\u7cfb\u7d71\u6b63\u5728\u57f7\u884c\u4ec0\u9ebc\u52d5\u4f5c\u3002<\/p>\n

                \u826f\u597d\u7684\u547d\u540d\u898f\u7bc4\u61c9\u5177\u5099\uff1a<\/p>\n

                  \n
                • \u63cf\u8ff0\u6027\uff1a<\/strong> \u300cWheel_Motor_On\u300d\u6bd4\u300cRun\u300d\u66f4\u597d\u3002<\/li>\n
                • \u4e00\u81f4\u6027\uff1a<\/strong> \u6240\u6709\u72c0\u614b\u61c9\u4f7f\u7528\u76f8\u540c\u7684\u52d5\u8a5e\u6642\u614b\u548c\u540d\u8a5e\u7d50\u69cb\u3002<\/li>\n
                • \u552f\u4e00\u6027\uff1a<\/strong> \u907f\u514d\u4f7f\u7528\u5916\u89c0\u76f8\u4f3c\u7684\u540d\u7a31\uff0c\u4f8b\u5982\u300cError\u300d\u548c\u300cError_Handler\u300d\u3002<\/li>\n<\/ul>\n

                  \u4e00\u81f4\u7684\u547d\u540d\u80fd\u964d\u4f4e\u5be9\u67e5\u7a0b\u5f0f\u78bc\u6216\u65e5\u8a8c\u6642\u7684\u8a8d\u77e5\u8ca0\u8377\u3002\u540c\u6642\u4e5f\u6709\u52a9\u65bc\u81ea\u52d5\u5316\u5de5\u5177\u6839\u64da\u6a21\u578b\u7522\u751f\u66f4\u4f73\u7684\u6587\u4ef6\u8207\u6e2c\u8a66\u6848\u4f8b\u3002<\/p>\n

                  \u8868\u683c\uff1a\u5e38\u898b\u9677\u9631\u8207\u6700\u4f73\u5be6\u52d9<\/h2>\n\n\n\n\n\n\n\n\n\n\n\n\n
                  \u9818\u57df<\/strong><\/th>\n\u9677\u9631<\/strong><\/th>\n\u6700\u4f73\u5be6\u52d9<\/strong><\/th>\n<\/tr>\n<\/thead>\n
                  \u5165\u53e3\u9ede<\/td>\n\u672a\u5b9a\u7fa9\u521d\u59cb\u72c0\u614b<\/td>\n\u5177\u5099\u521d\u59cb\u5316\u908f\u8f2f\u7684\u660e\u78ba\u5165\u53e3\u9ede<\/td>\n<\/tr>\n
                  \u6d41\u7a0b\u63a7\u5236<\/td>\n\u56e0\u7f3a\u5c11\u8f49\u79fb\u800c\u5c0e\u81f4\u7684\u6b7b\u9396<\/td>\n\u78ba\u4fdd\u6bcf\u500b\u72c0\u614b\u90fd\u6709\u9000\u51fa\u8def\u5f91<\/td>\n<\/tr>\n
                  \u4e26\u884c\u6027<\/td>\n\u4e26\u884c\u4efb\u52d9\u7684\u9806\u5e8f\u8655\u7406<\/td>\n\u70ba\u7368\u7acb\u6d3b\u52d5\u4f7f\u7528\u4e26\u884c\u5340\u57df<\/td>\n<\/tr>\n
                  \u908f\u8f2f<\/td>\n\u8907\u96dc\u7684\u5b88\u885b\u689d\u4ef6<\/td>\n\u5c07\u908f\u8f2f\u79fb\u81f3\u72c0\u614b\u52d5\u4f5c\uff0c\u4fdd\u6301\u5b88\u885b\u7c21\u55ae<\/td>\n<\/tr>\n
                  \u6642\u5e8f<\/td>\n\u7b49\u5f85\u72c0\u614b\u4e0a\u7121\u903e\u6642\u8a2d\u5b9a<\/td>\n\u5be6\u4f5c\u770b\u9580\u72d7\u548c\u5167\u90e8\u8a08\u6642\u5668<\/td>\n<\/tr>\n
                  \u53ef\u9760\u6027<\/td>\n\u907a\u6f0f\u932f\u8aa4\u72c0\u614b<\/td>\n\u660e\u78ba\u5b9a\u7fa9\u5b89\u5168\u8207\u6062\u5fa9\u72c0\u614b<\/td>\n<\/tr>\n
                  \u8cc7\u6599<\/td>\n\u96b1\u5f0f\u5168\u57df\u8cc7\u6599\u5171\u4eab<\/td>\n\u900f\u904e\u8f49\u79fb\u53c3\u6578\u660e\u78ba\u50b3\u905e\u8cc7\u6599<\/td>\n<\/tr>\n
                  \u6587\u4ef6<\/td>\n\u6a21\u7cca\u7684\u72c0\u614b\u540d\u7a31<\/td>\n\u4f7f\u7528\u63cf\u8ff0\u6027\u4e14\u4e00\u81f4\u7684\u547d\u540d\u6163\u4f8b<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

                  \u5be6\u4f5c\u8003\u91cf<\/h2>\n

                  \u5716\u8868\u5b9a\u7a3f\u5f8c\uff0c\u8f49\u63db\u70ba\u7a0b\u5f0f\u78bc\u9700\u8981\u8b39\u614e\u3002\u6a21\u578b\u61c9\u9a45\u52d5\u5be6\u4f5c\uff0c\u800c\u975e\u76f8\u53cd\u3002\u4fee\u6539\u7a0b\u5f0f\u78bc\u4ee5\u7e5e\u904e\u72c0\u614b\u6a5f\u7684\u9650\u5236\uff0c\u901a\u5e38\u6703\u5c0e\u81f4\u6280\u8853\u8ca0\u50b5\u3002<\/p>\n

                  \u7a0b\u5f0f\u78bc\u7522\u751f\u5668\u53ef\u5354\u52a9\u5f4c\u88dc\u6b64\u5dee\u8ddd\u3002\u5b83\u5011\u78ba\u4fdd\u57f7\u884c\u6642\u671f\u5b8c\u5168\u7b26\u5408\u8a2d\u8a08\u3002\u7136\u800c\uff0c\u50c5\u4f9d\u8cf4\u7522\u751f\u800c\u672a\u7406\u89e3\u5e95\u5c64\u908f\u8f2f\u662f\u5371\u96aa\u7684\u3002\u5de5\u7a0b\u5e2b\u5fc5\u9808\u80fd\u95b1\u8b80\u7522\u751f\u7684\u7a0b\u5f0f\u78bc\uff0c\u4e26\u78ba\u8a8d\u5176\u7b26\u5408\u5716\u8868\u7684\u610f\u5716\u3002<\/p>\n

                  \u6e2c\u8a66\u72c0\u614b\u6a5f<\/h3>\n

                  \u55ae\u5143\u6e2c\u8a66\u81f3\u95dc\u91cd\u8981\u3002\u6bcf\u500b\u72c0\u614b\u8207\u8f49\u79fb\u90fd\u61c9\u7368\u7acb\u9a57\u8b49\u3002\u6574\u5408\u6e2c\u8a66\u53ef\u78ba\u4fdd\u72c0\u614b\u8b8a\u66f4\u4e0d\u6703\u5728\u7cfb\u7d71\u5176\u4ed6\u90e8\u5206\u9020\u6210\u526f\u4f5c\u7528\u3002<\/p>\n

                    \n
                  • \u8f49\u79fb\u6e2c\u8a66\uff1a<\/strong> \u78ba\u8a8d\u7279\u5b9a\u8f38\u5165\u662f\u5426\u89f8\u767c\u6b63\u78ba\u7684\u72c0\u614b\u8b8a\u66f4\u3002<\/li>\n
                  • \u72c0\u614b\u9a57\u8b49\uff1a<\/strong> \u78ba\u4fdd\u7cfb\u7d71\u5728\u6709\u6548\u9000\u51fa\u689d\u4ef6\u767c\u751f\u524d\u4fdd\u6301\u5728\u8a72\u72c0\u614b\u3002<\/li>\n
                  • \u58d3\u529b\u6e2c\u8a66\uff1a<\/strong> \u5728\u8ca0\u8f09\u4e0b\u904b\u884c\u7cfb\u7d71\uff0c\u4ee5\u6aa2\u67e5\u6642\u5e8f\u554f\u984c\u6216\u7af6\u722d\u689d\u4ef6\u3002<\/li>\n<\/ul>\n

                    \u6a21\u64ec\u74b0\u5883\u5141\u8a31\u5b89\u5168\u5730\u6e2c\u8a66\u6545\u969c\u6a21\u5f0f\u3002\u5de5\u7a0b\u5e2b\u53ef\u4ee5\u5f15\u5165\u611f\u6e2c\u5668\u6545\u969c\u6216\u901a\u8a0a\u5ef6\u9072\uff0c\u4ee5\u89c0\u5bdf\u72c0\u614b\u6a5f\u7684\u53cd\u61c9\uff0c\u800c\u7121\u9700\u5192\u640d\u58de\u786c\u9ad4\u7684\u98a8\u96aa\u3002<\/p>\n

                    \u4e0d\u826f\u5efa\u6a21\u7684\u4ee3\u50f9<\/h2>\n

                    \u5728\u5716\u8868\u4e2d\u4fee\u5fa9\u72c0\u614b\u6a5f\u6210\u672c\u4f4e\u5ec9\u3002\u5728\u5df2\u90e8\u7f72\u7684\u7a0b\u5f0f\u78bc\u4e2d\u4fee\u5fa9\u5247\u4ee3\u50f9\u9ad8\u6602\u3002\u5728\u6a5f\u5668\u4eba\u9818\u57df\uff0c\u908f\u8f2f\u932f\u8aa4\u53ef\u80fd\u5c0e\u81f4\u6a5f\u5668\u4eba\u6216\u74b0\u5883\u7684\u7269\u7406\u640d\u58de\uff0c\u4e5f\u53ef\u80fd\u5c0e\u81f4\u64cd\u4f5c\u54e1\u53d7\u50b7\u3002<\/p>\n

                    \u6295\u5165\u6642\u9593\u9032\u884c\u56b4\u8b39\u7684\u8a2d\u8a08\u6d41\u7a0b\uff0c\u5c07\u5728\u7a69\u5b9a\u6027\u4e0a\u7372\u5f97\u56de\u5831\u3002\u4e00\u500b\u826f\u597d\u6587\u4ef6\u5316\u7684\u72c0\u614b\u6a5f\u53ef\u4f5c\u70ba\u6574\u500b\u958b\u767c\u5718\u968a\u7684\u552f\u4e00\u771f\u7406\u4f86\u6e90\u3002\u9019\u6709\u52a9\u65bc\u786c\u9ad4\u8207\u8edf\u9ad4\u5de5\u7a0b\u5e2b\u4e4b\u9593\u66f4\u597d\u7684\u5354\u4f5c\u3002<\/p>\n

                    \u91cd\u9ede\u8981\u9ede\u7e3d\u7d50<\/h2>\n

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