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.

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

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