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Pinout: C High-performance 32-bit RISC Architecture C High-density 16-bit Instruction Set C Leader in MIPS/Watt C Little-endian C Embedded ICE (In-circuit Emulation) 8-, 16- and 32-bit Read and Write Support 256K Bytes of On-chip SRAM C 32-bit Data Bus C Single-clock Cycle Access Fully Programmable External Bus Interface C Maximum External Address Space of 64M Bytes C Up to Eight Chip Selects C Software Programmable 8/16-bit External Data Bus Eight-level Priority, Individually Maskable, Vectored Interrupt Controller C Four External Interrupts, including a High-priority, Low-latency Interrupt Request 32 Programmable I/O Lines Three-channel 16-bit Timer/Counter C Three External Clock Inputs C Two Multi-purpose I/O Pins per Channel Two USARTs C Two Dedicated Peripheral Data Controller Channels per USART Programmable Watchdog Timer Advanced Power-saving Features C CPU and Peripheral Can be Deactivated Individually Fully Static Operation: C 0 Hz to 75 MHz Internal Frequency Range at VDDCORE = 1.8V, 85C 2.7V to 3.6V I/O Operating Range 1.65V to 1.95V Core Operating Range -40C to +85C Temperature Range Available in 100-lead TQFP Package

M5L8253P-5引脚说明： C型高性能32位RISC架构C高密度以MIPS /瓦C小端C十六位指令集C领袖嵌入式冰8 - 16 -位和32位的读写支持256K的片上SRAM的 32位数据总线C单时钟周期存取字节完全可编程的外部总线接口C最大的外部地址空间的64M字节多达8个C芯片选择C软件可编程8位外部数据总线8级优先级，独立可屏蔽，向量中断控制器C四外部中断，其中包括一个高优先级，低延迟中断要求32个可编程I / O口线三通道16位定时器/计数器C三个外部时钟输入C两多用途I / O引脚每通道2个通用同步C两专用外设数据控制器通道每个USART可编程看门狗定时器先进的节能特性 CPU和外设可停用独立全静态工作中：C 0 Hz至75 MHz的频率范围内的VDDCORE = 1.8，85℃2.7V到3.6VI / O的操作1.65V到1.95V范围核心工作电压范围在- 40C至+85 C温度范围内使用的100引脚TQFP封装

In this paper RoboCup Mid-size Robot are the object of study from the two sides of the robot system and the system of multi-robot cooperation, the main research results are as follows: First, this paper reasearches the problom of the hardware and software architecture of Mid-size robots. According to the real-time requirements of the competition, the paper designs the mechanism of omni-direction wheels, which achieves a great improvement on the traditional mechanism of two wheels robot, and a more flexible response. This mechanism can adapt well to the increasingly rapid pace of the competition. In allusion to the mechanism of omni-direction wheels, this paper designs the electrical control system of three nodes in the bottom, which could communicate fast to the laptop with serial port and match the real-time requirements well. According to the problom of hitting power and speed of robot when shooting, this paper designes a motor-driven tongue-shaped spring shooting mechanism, which has a simple mechanical structure, smaller space in size and simple control circuit. This shooting mechanism meets the real-time requirements of the competition better.

本文以RoboCup中型机器人作为研究对象，分别从机器人自身系统和多机器人协作系统两个方面进行了研究，主要研究成果如下：首先，研究了中型机器人的软硬件体系结构问题，针对实时比赛的要求，提出了万向轮机构的设计方案，大大改进了传统两轮机器人结构，动作反应更加灵活，该机构能够很好的适应节奏越来越快的比赛；针对万向轮机构，设计了3节点的底层电机控制系统，它可以通过串口与上层笔记本电脑快速通讯，能够很好的实现实时工作要求；针对机器人射门时击球力量和速度的问题，设计了一套电机驱动的舌形弹簧射门机构，机械结构简单，占用空间体积小，控制电路简单，较好的满足了比赛中实时射门的要求。

Breath, muscle contraction of the buttocks; arch body, as far as possible to hold his head, right leg straight towards the ceiling (peg-leg knee in order to avoid muscle tension).

呼气，收缩臀部肌肉；拱起身体，尽量抬起头来，右腿伸直朝向天花板（膝微屈，以避免肌肉紧张）。

The cost of moving grain food products was unchanged from May, but year over year are up 8%.

粮食产品的运输费用与5月份相比没有变化，但却比去年同期高8％。