Based on the STM32 microcontroller ball balancing robot, the robot can balance, involving low-level driver, Kalman filter, optimal control algorithm

RO_TIM\robot\Clear.bat
......\.....\.ommon\bitband.h
......\.....\......\DELAY\delay.c
......\.....\......\.....\delay.h
......\.....\Drives\ADC\adc.c
......\.....\......\...\adc.h
......\.....\......\BEEP\beep.c
......\.....\......\....\beep.h
......\.....\......\CONTORL\MCUcontrol.c
......\.....\......\.......\MCUcontrol.h
......\.....\......\DMA\dma.c
......\.....\......\...\dma.h
......\.....\......\EEPROM\stm32_eeprom.c
......\.....\......\......\stm32_eeprom.h
......\.....\......\.XTI\exti.c
......\.....\......\....\exti.h
......\.....\......\Filtrate\Filtrate.c
......\.....\......\........\Filtrate.h
......\.....\......\Filtrate1.c
......\.....\......\HMC5883L\HMC5883L.c
......\.....\......\........\HMC5883L.h
......\.....\......\I2C\i2c.c
......\.....\......\...\i2c.h
......\.....\......\.ntegral\Integral.c
......\.....\......\........\Integral.h
......\.....\......\JOYSTICK\joystick.c
......\.....\......\........\joystick.h
......\.....\......\KEY\key.c
......\.....\......\...\key.h
......\.....\......\LCM12864\lcm12864.c
......\.....\......\........\lcm12864.h
......\.....\......\....602\lcm1602.c
......\.....\......\.......\lcm1602.h
......\.....\......\.ED\led.c
......\.....\......\...\led.h
......\.....\......\MPU6050\imu.c
......\.....\......\.......\imu.h
......\.....\......\.......\mpu6050 - 副本.c
......\.....\......\.......\mpu6050 - 副本.h
......\.....\......\.......\mpu6050.c
......\.....\......\.......\mpu6050.h
......\.....\......\NRF24L01\nrf24l01.c
......\.....\......\........\nrf24l01.h
......\.....\......\OLED\oled.c
......\.....\......\....\oled.h
......\.....\......\....\oledfont.h
......\.....\......\RTC\rtc.c
......\.....\......\...\rtc.h
......\.....\......\SPI\spi.c
......\.....\......\...\spi.h
......\.....\......\.TANDBY\standby.c
......\.....\......\.......\standby.h
......\.....\......\.tepMotor\DCmotor.c
......\.....\......\.........\DCmotor.h
......\.....\......\.........\stepmotor.c
......\.....\......\.........\stepmotor.h
......\.....\......\TIMER\pwm.c
......\.....\......\.....\pwm.h
......\.....\......\.....\timer.c
......\.....\......\.....\timer.h
......\.....\......\USART\usart.c
......\.....\......\.....\usart.h
......\.....\FWLib_3_5_0\CMSIS\CM3\CoreSupport\core_cm3.c
......\.....\...........\.....\...\...........\core_cm3.h
......\.....\...........\.....\...\DeviceSupport\ST\STM32F10x\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
......\.....\...........\.....\...\.............\..\.........\..

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