电机速度位置双环控制（代码详细注释）
....................................\BALANCE
....................................\.......\CONTROL
....................................\.......\.......\control.c
....................................\.......\.......\control.h
....................................\.......\DMP
....................................\.......\...\dmpKey.h
....................................\.......\...\dmpmap.h
....................................\.......\...\inv_mpu.c
....................................\.......\...\inv_mpu.h
....................................\.......\...\inv_mpu_dmp_motion_driver.c
....................................\.......\...\inv_mpu_dmp_motion_driver.h
....................................\.......\DataScope_DP
....................................\.......\............\DataScope_DP.C
....................................\.......\............\DataScope_DP.h
....................................\.......\MPU6050
....................................\.......\.......\MPU6050.c
....................................\.......\.......\mpu6050.h
....................................\.......\filter
....................................\.......\......\filter.c
....................................\.......\......\filter.h
....................................\.......\show
....................................\.......\....\show.c
....................................\.......\....\show.h
....................................\CORE
....................................\....\core_cm3.c
....................................\....\core_cm3.h
....................................\....\startup_stm32f10x_hd.s
....................................\....\startup_stm32f10x_md.s
....................................\HARDWARE
....................................\........\ADC
....................................\........\...\adc.c
....................................\........\...\adc.h
....................................\........\ENCODER
....................................\........\.......\encoder.c
....................................\........\.......\encoder.h
....................................\........\IIC
....................................\........\...\IOI2C.c
....................................\........\...\IOI2C.h
....................................\........\KEY
....................................\........\...\key.c
....................................\........\...\key.h
....................................\........\LED
....................................\........\...\LED.C
....................................\........\...\LED.H
....................................\........\MOTOR
....................................\........\.....\motor.c
....................................\........\.....\motor.h
....................................\........\OLED
....................................\........\....\oled.c
....................................\........\....\oled.h
....................................\........\....\oledfont.h
....................................\........\TIMER
....................................\........\.....\timer.c
....................................\........\.....\timer.h
....................................\........\USART3
....................................\........\......\usart3.c
....................................\........\......\usart3.h
....................................\OBJ
....................................\...\ExtDll.iex
....................................\...\Minibalance.axf
....................................\...\Minibalance.build_log.htm
....................................\...\Minibalance.hex
....................................\...\Minibalance.htm
....................................\...\Minibalance.lnp
....................................\...\Minibalance.map
....................................\...\Minibalance.sct
....................................\...\Minibalance.uvgui.passoni
....................................\...\Minibalance.uvopt
....................................\...\Minibalance_Target 1.dep
....................................\...\Minibalance_uvproj.bak
.......