Based on the STM32 and triaxial accelerometer gyroscope MPU6050 of two-wheeled self-balanced vehicle of all-source, you can achieve two-wheeled self-balancing, before and after exercise.

自平衡小车（文权）\Doc\readme.txt
..................\keilkill.bat
..................\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\BALANCE.map
..................\.......\startup_stm32f10x_hd.lst
..................\Output\a_b_code.crf
..................\......\a_b_code.d
..................\......\a_b_code.o
..................\......\BALANCE.axf
..................\......\BALANCE.htm
..................\......\BALANCE.lnp
..................\......\BALANCE.sct
..................\......\bsp_pwm_output.crf
..................\......\bsp_pwm_output.d
..................\......\bsp_pwm_output.o
..................\......\core_cm3.crf
..................\......\core_cm3.d
..................\......\core_cm3.o
..................\......\delay.crf
..................\......\delay.d
..................\......\delay.o

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