A06B-6102-H322#H520 编写程序首先需要一个能编写和测试程序的平台。IDE就是这么一类供书写和编辑程序，并能编译和调试程序的软件。工作室使用的集成IDE是KeilμVision5(STM32)和Arduino IDE。会使用STM32的同学还可以下载CubeMX进行图形化的初始配置，简单方便易操作。
（2）程序语言
编写程序其次需要知道编写的规则，即计算机的「语言」。在Keil上最常用的代码语言是C、C++。Arduino，是一个基于开放原始码的软硬体平台，构建于开放原始码simple I/O介面版，并且具有使用类似Java，C语言的Processing/Wiring开发环境。
（3）基本控制原理
PID是一种经典的控制算法，根据系统的偏差来调整输入信号的线性反馈控制算法，本质上是一个涉及微积分的数学公式。通俗地说，它能根据传感器返回的机器人当前状态与目标状态（值）的偏差，微调对机器人发出的指令，使之保持稳定。这是实现对机器人稳定控制，及一些功率和射频等规则限制的关键点。除了经典PID以外，要想更精确的控制我们的机器人，还需要去学习更为「高深」的控制算法，比如ADRC、专家PID、模糊PID、自适应PID等。
（4）处理器
编写好程序之后，通过了在电脑上的编译和调试，就要将程序输入接电路板上的处理器——微型计算机，也称单片机，进行运行。工作室常用的是AVR和ARM系列。
（5）通信
从电脑端将程序输入单片机，需要「通信」。机器人技术中的通信，指的是计算机和计算机之间端到端的数据传输，涉及通信接口的封装和通信协议。通信协议的类型有很多，一般Arduino采用的是IDE自带的串口监视器，同时也支持I2C、SPI，CAN等通信方式。
对于STM32而言，最常使用的是CAN通信，利用CAN通信控制的电调大大提高了电机输出值的精准度，这是机器人比赛中做到「指哪打哪」的有力保障。
（6）自动控制元件
机器人是一个实现程序与现实世界交互的桥梁，而建立这座桥梁不可或缺的还有硬件，包括各种各样的传感器和电机。其中最重要的包括保证控制稳定的数据传感器——MPU6050，红外传感器，超声波传感器等等，传感器和电机的种类很多，因此选择合适的传感器及电机也是电控需要仔细斟酌的。
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A06B-6102-H322#H520
