Very comprehensive self-balancing production of a full set of car data, including hardware, PCB, software source code, the host computer software code, the device DATASHEET so on. Modeling, control algorithm and adjust the value of PD Reference: http://www.mathworks.com/matlabcentral/fileexchange/19147-nxtway-gs-self-balancing-two-wheeled-robot-controller-design The following hardware and software reference site data http://www.circuitcellar.com/avr2006/winners/de/at3329.htm http://tlb.org/scooter.html http://www.geology.smu.edu/ ~ dpa-www/robo/nbot/ matlab (matlab need to 2008, the old 6.5 version can not open) to open NXT.mdl, the contents of the input NXT.m.txt enter, K_f the four values ​ ​ is required for regulating the proportion of PD detailed reference documentation NXT Main control panel Description: 1: New layout, because the amendment to some unreasonable, and I do not use the same part of the main control board has not yet RS232 hardw

ProjectRII\说明.txt
..........\Control\NXT.m.txt
..........\.......\NXT_based_EN_2342.txt
..........\.......\说明.txt
..........\.......\NXT.mdl
..........\Parts\EN_2342CR_编码器说明_接线.txt
..........\.....\EWTS82.pdf
..........\.....\EN_2342CR_DFF.pdf
..........\.....\itr9606_1257889_____.pdf
..........\.rogram\main.c
..........\.......\main.lis
..........\.......\main._c
..........\.......\Project_R_II.cof
..........\.......\Project_R_II.dbg
..........\.......\Project_R_II.hex
..........\.......\Project_R_II.lk
..........\.......\Project_R_II.lst
..........\.......\Project_R_II.mak
..........\.......\Project_R_II.mp
..........\.......\Project_R_II.prj
..........\.......\PROJECT_R_II.SRC
..........\.......\Project_R_II_cof.aps
..........\.......\project_r_ii_cof.aws
..........\.......\程序更改log.txt
..........\.......\main.o
..........\Schematic_Pcb\zl_old.PcbLib
..........\.............\Tilt_board\Tilt_board.PRJPCB
..........\.............\..........\Tilt_board.PRJPCBStructure
..........\.............\..........\Tilt_board.SchDoc
..........\.............\..........\Tilt_board.PcbDoc
..........\.............\Motor_drive_board\Motor_driver_board.PRJPCBStructure
..........\.............\.................\Motor_driver_board.PRJPCB
..........\.............\.................\Motor_driver_board.SchDoc
..........\.............\.................\Motor_driver_board.PcbDoc
..........\.............\.in_board\Min_board.PRJPCB
..........\.............\.........\Min_board.PRJPCBStructure
..........\.............\.........\Min_board.SchDoc
..........\.............\.........\Min_board.PcbDoc
..........\.............\Controller_board\Controller_board.PrjPCBStructure
..........\.............\................\CONTROLLER_BOARD.PRJPCB
..........\.............\................\Controller_board.Schdoc
..........\.............\................\Controller_board.PcbDoc
..........\.oft ware\Project_R_Test.vbw
..........\.........\MSSCCPRJ.SCC
..........\.........\Project_R_Test.exe
..........\.........\Project_R_Test.frx
..........\.........\Project_R_Test.frm
..........\.........\Project_R_Test.vbp
..........\.chematic_Pcb\Tilt_board
..........\.............\Motor_drive_board
..........\.............\Min_board
..........\.............\Controller_board
..........\Control
..........\Parts
..........\Program
..........\Schematic_Pcb
..........\Soft ware
ProjectRII

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