平衡车

代码说明：

  stm32f103c8t6主控两轮平衡小车程序，内含电路原理图。使用卡尔曼滤波mpu6050采集角度，使用串级pid控制小车平衡和速度。(Stm32f103c8t6 master two wheel balancing program, including circuit schematics. The Calman filter mpu6050 is used to collect the angle, and the cascade PID is used to control the balance and speed of the car.)

文件列表：

12M
12M\CONTROL
12M\CONTROL\control.c
12M\CONTROL\control.h
12M\CONTROL\DataScope_DP.C
12M\CONTROL\DataScope_DP.h
12M\CONTROL\filter.c
12M\CONTROL\filter.h
12M\CONTROL\mpu6050.c
12M\CONTROL\mpu6050.h
12M\HARDWARE
12M\HARDWARE\ADC
12M\HARDWARE\ADC\adc.c
12M\HARDWARE\ADC\adc.h
12M\HARDWARE\ENCODER
12M\HARDWARE\ENCODER\encoder.c
12M\HARDWARE\ENCODER\encoder.h
12M\HARDWARE\IIC
12M\HARDWARE\IIC\IOI2C.c
12M\HARDWARE\IIC\IOI2C.h
12M\HARDWARE\KEY
12M\HARDWARE\KEY\key.c
12M\HARDWARE\KEY\key.h
12M\HARDWARE\LED
12M\HARDWARE\LED\LED.C
12M\HARDWARE\LED\LED.h
12M\HARDWARE\MOTOR
12M\HARDWARE\MOTOR\motor.c
12M\HARDWARE\MOTOR\motor.h
12M\HARDWARE\OLED
12M\HARDWARE\OLED\OLED.c
12M\HARDWARE\OLED\oled.h
12M\HARDWARE\STMFLASH
12M\HARDWARE\STMFLASH\stmflash.c
12M\HARDWARE\STMFLASH\stmflash.h
12M\HARDWARE\TIMER
12M\HARDWARE\TIMER\timer.c
12M\HARDWARE\TIMER\timer.h
12M\HARDWARE\USART3
12M\HARDWARE\USART3\usart3.c
12M\HARDWARE\USART3\usart3.h
12M\OBJ
12M\OBJ\24l01.crf
12M\OBJ\24l01.d
12M\OBJ\24l01.o
12M\OBJ\adc.crf
12M\OBJ\adc.d
12M\OBJ\adc.o
12M\OBJ\control.crf
12M\OBJ\control.d
12M\OBJ\control.o
12M\OBJ\datascope_dp.crf
12M\OBJ\datascope_dp.d
12M\OBJ\datascope_dp.o
12M\OBJ\delay.crf
12M\OBJ\delay.d
12M\OBJ\delay.o
12M\OBJ\encoder.crf
12M\OBJ\encoder.d
12M\OBJ\encoder.o
12M\OBJ\ExtDll.iex
12M\OBJ\exti.crf
12M\OBJ\exti.d
12M\OBJ\exti.o
12M\OBJ\exti.__i
12M\OBJ\filter.crf
12M\OBJ\filter.d
12M\OBJ\filter.o
12M\OBJ\iic.crf
12M\OBJ\iic.d
12M\OBJ\iic.o
12M\OBJ\inv_mpu.crf
12M\OBJ\inv_mpu.d
12M\OBJ\inv_mpu.o
12M\OBJ\inv_mpu.__i
12M\OBJ\inv_mpu_dmp_motion_driver.crf
12M\OBJ\inv_mpu_dmp_motion_driver.d
12M\OBJ\inv_mpu_dmp_motion_driver.o
12M\OBJ\inv_mpu_dmp_motion_driver.__i
12M\OBJ\ioi2c.crf
12M\OBJ\ioi2c.d
12M\OBJ\ioi2c.o
12M\OBJ\key.crf
12M\OBJ\key.d
12M\OBJ\key.o
12M\OBJ\led.crf
12M\OBJ\led.d
12M\OBJ\led.o
12M\OBJ\Minibalance.axf
12M\OBJ\Minibalance.build_log.htm
12M\OBJ\minibalance.crf
12M\OBJ\minibalance.d
12M\OBJ\Minibalance.hex
12M\OBJ\Minibalance.htm
12M\OBJ\Minibalance.lnp
12M\OBJ\Minibalance.map
12M\OBJ\minibalance.o
12M\OBJ\Minibalance.sct
12M\OBJ\Minibalance.tra
12M\OBJ\Minibalance.uvgui.passoni