Programs for self-balancing vehicle with two wheels. Using IIC and mpu6050. You need to adjust the parameters of PID control.

底板程序
........\CMSIS
........\.....\CM3
........\.....\...\CoreSupport
........\.....\...\...........\core_cm3.c
........\.....\...\...........\core_cm3.h
........\.....\...\DeviceSupport
........\.....\...\.............\ST
........\.....\...\.............\..\STM32F10x
........\.....\...\.............\..\.........\Release_Notes.html
........\.....\...\.............\..\.........\startup
........\.....\...\.............\..\.........\.......\arm
........\.....\...\.............\..\.........\.......\...\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
........\.....\...\.............\..\.........\.......\gcc_ride7
........\.....\...\.............\..\.........\.......\.........\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
........\.....\...\.............\..\.........\.......\iar
........\.....\...\.............\..\.........\.......\...\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
........\.....\...\.............\..\.........\.......\TrueSTUDIO
........\.....\...\.............\..\.........\.......\..........\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
........\.....\CMSIS debug support.htm
........\.....\CMSIS_changes.htm
........\.....\Documentation
........\.....\.............\CMSIS_Core.htm
........\.....\License.doc
........\Project
........\.......\JLink Regs CM3.txt
........\.......\JLinkLog.txt
........\.......\JLinkSettings.ini
........\.......\List
........\.......\....\project.map
........\.......\....\startup_stm32f10x_hd.lst
........\.......\Obj
........\.......\...\app.bin
........\.......\...\control.crf
........\.......\...\control.d
........\.......\...\control

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