A06B-6102-H322#H520 編寫程序首先需要一個能編寫和測試程序的平臺。IDE就是這么一類供書寫和編輯程序，并能編譯和調試程序的軟件。工作室使用的集成IDE是KeilμVision5(STM32)和Arduino IDE。會使用STM32的同學還可以下載CubeMX進行圖形化的初始配置，簡單方便易操作。
（2）程序語言
編寫程序其次需要知道編寫的規則，即計算機的「語言」。在Keil上最常用的代碼語言是C、C++。Arduino，是一個基于開放原始碼的軟硬體平臺，構建于開放原始碼simple I/O介面版，并且具有使用類似Java，C語言的Processing/Wiring開發環境。
（3）基本控制原理
PID是一種經典的控制算法，根據系統的偏差來調整輸入信號的線性反饋控制算法，本質上是一個涉及微積分的數學公式。通俗地說，它能根據傳感器返回的機器人當前狀態與目標狀態（值）的偏差，微調對機器人發出的指令，使之保持穩定。這是實現對機器人穩定控制，及一些功率和射頻等規則限制的關鍵點。除了經典PID以外，要想更精確的控制我們的機器人，還需要去學習更為「高深」的控制算法，比如ADRC、專家PID、模糊PID、自適應PID等。
（4）處理器
編寫好程序之后，通過了在電腦上的編譯和調試，就要將程序輸入接電路板上的處理器——微型計算機，也稱單片機，進行運行。工作室常用的是AVR和ARM系列。
（5）通信
從電腦端將程序輸入單片機，需要「通信」。機器人技術中的通信，指的是計算機和計算機之間端到端的數據傳輸，涉及通信接口的封裝和通信協議。通信協議的類型有很多，一般Arduino采用的是IDE自帶的串口監視器，同時也支持I2C、SPI，CAN等通信方式。
對于STM32而言，最常使用的是CAN通信，利用CAN通信控制的電調大大提高了電機輸出值的精準度，這是機器人比賽中做到「指哪打哪」的有力保障。
（6）自動控制元件
機器人是一個實現程序與現實世界交互的橋梁，而建立這座橋梁不可或缺的還有硬件，包括各種各樣的傳感器和電機。其中最重要的包括保證控制穩定的數據傳感器——MPU6050，紅外傳感器，超聲波傳感器等等，傳感器和電機的種類很多，因此選擇合適的傳感器及電機也是電控需要仔細斟酌的。
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