The double wheel balancing code has been transferred. The specific PID parameters need to be selected on the specific car. Do not use it directly. The PID parameter is adjusted, please learn by yourself. The code is welcome for download.

Filename	Size	Update
PID	0	2017-10-09
PID\Doc	0	2017-10-04
PID\Libraries	0	2017-10-05
PID\Libraries\CMSIS	0	2017-10-05
PID\Libraries\CMSIS\core_cm3.c	17273	2010-06-07
PID\Libraries\CMSIS\core_cm3.h	85714	2011-02-09
PID\Libraries\CMSIS\startup	0	2017-10-05
PID\Libraries\CMSIS\startup\startup_stm32f10x_cl.s	15766	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_hd.s	15503	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_hd_vl.s	15692	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_ld.s	12376	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_ld_vl.s	13656	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_md.s	12765	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_md_vl.s	14073	2011-03-10
PID\Libraries\CMSIS\startup\startup_stm32f10x_xl.s	15955	2011-03-10
PID\Libraries\CMSIS\stm32f10x.h	633941	2011-03-10
PID\Libraries\CMSIS\system_stm32f10x.c	36557	2011-03-10
PID\Libraries\CMSIS\system_stm32f10x.h	2085	2011-03-10
PID\Libraries\FWlib	0	2017-10-05
PID\Libraries\FWlib\inc	0	2017-10-05
PID\Libraries\FWlib\inc\misc.h	8982	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_adc.h	21690	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_bkp.h	7555	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_can.h	27559	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_cec.h	6573	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_crc.h	2162	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_dac.h	15233	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_dbgmcu.h	3818	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_dma.h	20754	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_exti.h	6824	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_flash.h	25445	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_fsmc.h	27016	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_gpio.h	20175	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_i2c.h	30029	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_iwdg.h	3828	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_pwr.h	4383	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_rcc.h	30452	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_rtc.h	3857	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_sdio.h	21863	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_spi.h	17725	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_tim.h	52427	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_usart.h	16548	2011-03-10
PID\Libraries\FWlib\inc\stm32f10x_wwdg.h	2966	2011-03-10
PID\Libraries\FWlib\src	0	2017-10-05
PID\Libraries\FWlib\src\misc.c	7046	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_adc.c	47201	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_bkp.c	8463	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_can.c	45103	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_cec.c	11656	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_crc.c	3347	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_dac.c	19087	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_dbgmcu.c	5149	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_dma.c	29607	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_exti.c	6959	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_flash.c	62551	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_fsmc.c	35484	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_gpio.c	23221	2011-03-11
PID\Libraries\FWlib\src\stm32f10x_i2c.c	45781	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_iwdg.c	4916	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_pwr.c	8759	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_rcc.c	51271	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_rtc.c	8598	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_sdio.c	28933	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_spi.c	30224	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_tim.c	109159	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_usart.c	38308	2011-03-10
PID\Libraries\FWlib\src\stm32f10x_wwdg.c	5735	2011-03-10
PID\Listing	0	2017-10-04
PID\Output	0	2017-10-04
PID\Project	0	2017-10-27
PID\Project\DebugConfig	0	2017-10-05
PID\Project\DebugConfig\Target_1_STM32F103ZE_1.0.0.dbgconf	6956	2015-12-10
PID\Project\DMP.uvguix.3533612540	177184	2017-10-27
PID\Project\DMP.uvguix.3533612540.bak	179109	2017-10-22
PID\Project\DMP.uvoptx	22357	2017-10-27
PID\Project\DMP.uvprojx	20683	2017-10-25
PID\Project\EventRecorderStub.scvd	339	2017-10-27
PID\Project\Listings	0	2017-10-05
PID\Project\Listings\DMP.map	194010	2017-10-27
PID\Project\Listings\startup_stm32f10x_hd.lst	54530	2017-10-27
PID\Project\Objects	0	2017-10-27
PID\Project\Objects\balancing.crf	292088	2017-10-27
PID\Project\Objects\balancing.d	1166	2017-10-27
PID\Project\Objects\balancing.o	311516	2017-10-27
PID\Project\Objects\blangcing.d	46	2017-10-25
PID\Project\Objects\bsp_systick.crf	286642	2017-10-24
PID\Project\Objects\bsp_systick.d	1041	2017-10-24
PID\Project\Objects\bsp_systick.o	307432	2017-10-24
PID\Project\Objects\bsp_usart.crf	292055	2017-10-24
PID\Project\Objects\bsp_usart.d	1071	2017-10-24
PID\Project\Objects\bsp_usart.o	312648	2017-10-24
PID\Project\Objects\bsp_usart1.crf	291958	2017-10-18
PID\Project\Objects\bsp_usart1.d	1091	2017-10-18
PID\Project\Objects\bsp_usart1.o	311232	2017-10-18
PID\Project\Objects\core_cm3.crf	3953	2017-10-27
PID\Project\Objects\core_cm3.d	121	2017-10-27
PID\Project\Objects\core_cm3.o	11412	2017-10-27
PID\Project\Objects\datascope_dp.crf	18	2017-10-15
PID\Project\Objects\datascope_dp.d	104	2017-10-15
PID\Project\Objects\datascope_dp.o	5596	2017-10-15

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