The design is made by a single-stage inverted pendulum, it requires only one rocker can be. Car driven by a DC motor to exercise for about moving pendulum rod has an angular velocity sensor that can measure the current angle of the pendulum, the angle back to the main chip, the master chip declination information obtained after the driver circuit to do the instruction, so that the car accelerated toward the declination direction, so that the car can be kept small pendulum kept upright using the cortex-m3 balance as a control chip.

invertedPendulum\CMSIS\core_cm3.c
................\.....\core_cm3.h
................\.....\stm32f10x.h
................\.....\system_stm32f10x.c
................\.....\system_stm32f10x.h
................\Doc\readme.txt
................\keilkill.bat
................\Lib\inc\misc.h
................\...\...\stm32f10x_adc.h
................\...\...\stm32f10x_bkp.h
................\...\...\stm32f10x_can.h
................\...\...\stm32f10x_cec.h
................\...\...\stm32f10x_crc.h
................\...\...\stm32f10x_dac.h
................\...\...\stm32f10x_dbgmcu.h
................\...\...\stm32f10x_dma.h
................\...\...\stm32f10x_exti.h
................\...\...\stm32f10x_flash.h
................\...\...\stm32f10x_fsmc.h
................\...\...\stm32f10x_gpio.h
................\...\...\stm32f10x_i2c.h
................\...\...\stm32f10x_iwdg.h
................\...\...\stm32f10x_pwr.h
................\...\...\stm32f10x_rcc.h
................\...\...\stm32f10x_rtc.h
................\...\...\stm32f10x_sdio.h
................\...\...\stm32f10x_spi.h
................\...\...\stm32f10x_tim.h
................\...\...\stm32f10x_usart.h
................\...\...\stm32f10x_wwdg.h
................\...\src\misc.c
................\...\...\stm32f10x_adc.c
................\...\...\stm32f10x_bkp.c
................\...\...\stm32f10x_can.c
................\...\...\stm32f10x_cec.c
................\...\...\stm32f10x_crc.c
................\...\...\stm32f10x_dac.c
................\...\...\stm32f10x_dbgmcu.c
................\...\...\stm32f10x_dma.c
................\...\...\stm32f10x_exti.c
................\...\...\stm32f10x_flash.c
................\...\...\stm32f10x_fsmc.c
................\...\...\stm32f10x_gpio.c
................\...\...\stm32f10x_i2c.c
................\...\...\stm32f10x_iwdg.c
................\...\...\stm32f10x_pwr.c
................\...\...\stm32f10x_rcc.c
................\...\...\stm32f10x_rtc.c
................\...\...\stm32f10x_sdio.c
................\...\...\stm32f10x_spi.c
................\...\...\stm32f10x_tim.c
................\...\...\stm32f10x_usart.c
................\...\...\stm32f10x_wwdg.c
................\Project\JLinkLog.txt
................\.......\JLinkSettings.ini
................\.......\Listing\quadrotor.map
................\.......\.......\startup_stm32f10x_hd.lst
................\.......\Output\ad.crf
................\.......\......\ad.d
................\.......\......\ad.o
................\.......\......\at24cxx.crf
................\.......\......\at24cxx.d
................\.......\......\at24cxx.o
................\.......\......\control.crf
................\.......\......\control.d
................\.......\......\control.o
................\.......\......\core_cm3.crf
................\.......\......\core_cm3.d
................\.......\......\core_cm3.o
................\.......\......\i2c.crf
................\.......\......\i2c.d
................\.......\......\i2c.o
................\.......\......\lcd_ili9325.crf
................\.......\......\lcd_ili9325.d
................\.......\......\lcd_ili9325.o
................\.......\......\led.crf
................\.......\......\led.d
................\.......\......\led.o
................\.......\......\main.crf
................\.......\......\main.d
................\.......\......\main.o
................\.......\......\misc.crf
................\.......\......\misc.d
................\.......\......\misc.o
................\.......\......\moto.crf
................\.......\......\moto.d
................\.......\......\moto.o
................\.......\......\mpu6050.crf
................\.......\......\mpu6050.d
................\.......\......\mpu6050.o
................\.......\......\pbdata.crf
................\.......\......\pbdata.d
................\.......\......\pbdata.o
................\.......\......\quadrotor.axf
................\.......\......\quadrotor.hex
................\.......\......\quadrotor.htm
................\.......\......\quadrotor.lnp
................\.......\......\quadrotor.plg
................\.......\......\quadrotor.sct
.....

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