源码实现的功能是超声波的360度全向测距，主要是用于智能小车中的快速的目标搜寻查找，主要是在机器人对抗赛中避免目标的丢失，如果使用了360度的目标搜寻就可以很快地调用先关的控制机制，主要用于有转动台的超声波测距。-Source function is implemented 360-degree omni-directional ultrasonic ranging, the smart car is mainly used in the quick search to find the tar

本代码是ROBOMSTER2016步兵车代码，本质上是个全向移动机器人，基于STM32开发，实现了很好的运动控制-This code is ROBOMSTER2016 infantry car code, is essentially an omni-directional mobile robot, based on STM32 development, to achieve a very good motion control