Robot

代码说明：

  利用STM32主控单元与三轴陀螺仪MPU6050。MPU6050进行倾角测量，对测得的加速度和角速度数据进行AHRS数据融合，最终得到姿态角，姿态角再进行卡尔曼滤波。STM32单片机控制步进电机运动，对检测到的姿态角做最优控制。(Development of a Robot Balanced on a Ball)

文件列表：

RO_TIM\robot\Clear.bat
RO_TIM\robot\Common\bitband.h
RO_TIM\robot\Common\DELAY\delay.c
RO_TIM\robot\Common\DELAY\delay.h
RO_TIM\robot\Drives\ADC\adc.c
RO_TIM\robot\Drives\ADC\adc.h
RO_TIM\robot\Drives\BEEP\beep.c
RO_TIM\robot\Drives\BEEP\beep.h
RO_TIM\robot\Drives\CONTORL\MCUcontrol.c
RO_TIM\robot\Drives\CONTORL\MCUcontrol.h
RO_TIM\robot\Drives\DMA\dma.c
RO_TIM\robot\Drives\DMA\dma.h
RO_TIM\robot\Drives\EEPROM\stm32_eeprom.c
RO_TIM\robot\Drives\EEPROM\stm32_eeprom.h
RO_TIM\robot\Drives\EXTI\exti.c
RO_TIM\robot\Drives\EXTI\exti.h
RO_TIM\robot\Drives\Filtrate\Filtrate.c
RO_TIM\robot\Drives\Filtrate\Filtrate.h
RO_TIM\robot\Drives\Filtrate1.c
RO_TIM\robot\Drives\HMC5883L\HMC5883L.c
RO_TIM\robot\Drives\HMC5883L\HMC5883L.h
RO_TIM\robot\Drives\I2C\i2c.c
RO_TIM\robot\Drives\I2C\i2c.h
RO_TIM\robot\Drives\Integral\Integral.c
RO_TIM\robot\Drives\Integral\Integral.h
RO_TIM\robot\Drives\JOYSTICK\joystick.c
RO_TIM\robot\Drives\JOYSTICK\joystick.h
RO_TIM\robot\Drives\KEY\key.c
RO_TIM\robot\Drives\KEY\key.h
RO_TIM\robot\Drives\LCM12864\lcm12864.c
RO_TIM\robot\Drives\LCM12864\lcm12864.h
RO_TIM\robot\Drives\LCM1602\lcm1602.c
RO_TIM\robot\Drives\LCM1602\lcm1602.h
RO_TIM\robot\Drives\LED\led.c
RO_TIM\robot\Drives\LED\led.h
RO_TIM\robot\Drives\MPU6050\imu.c
RO_TIM\robot\Drives\MPU6050\imu.h
RO_TIM\robot\Drives\MPU6050\mpu6050 - 副本.c
RO_TIM\robot\Drives\MPU6050\mpu6050 - 副本.h
RO_TIM\robot\Drives\MPU6050\mpu6050.c
RO_TIM\robot\Drives\MPU6050\mpu6050.h
RO_TIM\robot\Drives\NRF24L01\nrf24l01.c
RO_TIM\robot\Drives\NRF24L01\nrf24l01.h
RO_TIM\robot\Drives\OLED\oled.c
RO_TIM\robot\Drives\OLED\oled.h
RO_TIM\robot\Drives\OLED\oledfont.h
RO_TIM\robot\Drives\RTC\rtc.c
RO_TIM\robot\Drives\RTC\rtc.h
RO_TIM\robot\Drives\SPI\spi.c
RO_TIM\robot\Drives\SPI\spi.h
RO_TIM\robot\Drives\STANDBY\standby.c
RO_TIM\robot\Drives\STANDBY\standby.h
RO_TIM\robot\Drives\StepMotor\DCmotor.c
RO_TIM\robot\Drives\StepMotor\DCmotor.h
RO_TIM\robot\Drives\StepMotor\stepmotor.c
RO_TIM\robot\Drives\StepMotor\stepmotor.h
RO_TIM\robot\Drives\TIMER\pwm.c
RO_TIM\robot\Drives\TIMER\pwm.h
RO_TIM\robot\Drives\TIMER\timer.c
RO_TIM\robot\Drives\TIMER\timer.h
RO_TIM\robot\Drives\USART\usart.c
RO_TIM\robot\Drives\USART\usart.h
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\CoreSupport\core_cm3.c
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\CoreSupport\core_cm3.h
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_cl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_hd_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_ld_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_md_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\arm\startup_stm32f10x_xl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_cl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_hd_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_ld_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_md_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\gcc_ride7\startup_stm32f10x_xl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_cl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_hd_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_ld_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_md.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_md_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\iar\startup_stm32f10x_xl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_cl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_hd.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_hd_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_ld.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_ld_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_md.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_md_vl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\startup\TrueSTUDIO\startup_stm32f10x_xl.s
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\stm32f10x.h
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\system_stm32f10x.c
RO_TIM\robot\FWLib_3_5_0\CMSIS\CM3\DeviceSupport\ST\STM32F10x\system_stm32f10x.h
RO_TIM\robot\FWLib_3_5_0\CMSIS\License.doc