Swinging rod is placed on the car, keep the rod is not down, and realize the balance of a degree of freedom. Potentiometer AD sampling, PID algorithm and PWM output configuration, based on the STM32 to run.

倒立摆\Doc\readme.txt
......\Libraries\CMSIS\core_cm3.c
......\.........\.....\core_cm3.h
......\.........\.....\startup\startup_stm32f10x_cl.s
......\.........\.....\.......\startup_stm32f10x_hd.s
......\.........\.....\.......\startup_stm32f10x_hd_vl.s
......\.........\.....\.......\startup_stm32f10x_ld.s
......\.........\.....\.......\startup_stm32f10x_ld_vl.s
......\.........\.....\.......\startup_stm32f10x_md.s
......\.........\.....\.......\startup_stm32f10x_md_vl.s
......\.........\.....\.......\startup_stm32f10x_xl.s
......\.........\.....\stm32f10x.h
......\.........\.....\system_stm32f10x.c
......\.........\.....\system_stm32f10x.h
......\.........\FWlib\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
......\..sting\startup_stm32f10x_hd.lst
......\.......\倒立摆.map
......\Output\angle.crf
......\......\angle.d
......\......\angle.o
......\......\core_cm3.crf
......\......\core_cm3.d
......\......\core_cm3.o
......\......\delay.crf
......\......\delay.d
......\......\delay.o
......\......\main.crf
......\......\main.d
......\......\main.o
......\......\misc.crf
......\......\misc.d
......\......\misc.o
......\......\moto.crf
......\......\moto.d
......\......\moto.o
......\......\pid.crf
......\......\pid.d
......\......\pid.o
......\......\startup_stm32f10x_hd.d
......\......\startup_stm32f10x_hd.o
......\......\stm32f10x_adc.crf
......\......\stm32f10x_adc.d
......\......\stm32f10x_adc.o
......\......\stm32f10x_dma.crf
......\......\stm32f10x_dma.d
......\......\stm32f10x_dma.o
......\......\stm32f10x_exti.crf
......\......\stm32f10x_exti.d
......\......\stm32f10x_exti.o
......\......\stm32f10x_gpio.crf
......\......\stm32f10x_gpio.d
......\......\stm32f10x_gpio.o
......\......\stm32f10x_it.crf
......\......\stm32f10x_it.d
......\......\stm32f10x_it.o

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