两轮自平衡车平衡用的底板程序，平台为stm32，传感器为mpu6050，IIC读数据。通过调节函数中的PID参数可维持平衡车的基本直立。
资源文件列表
╡╫░σ│╠╨≥/CMSIS/CM3/CoreSupport/core_cm3.c , 17273
╡╫░σ│╠╨≥/CMSIS/CM3/CoreSupport/core_cm3.h , 85714
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/Release_Notes.html , 26297
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_cl.s , 15766
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_hd.s , 15503
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_hd_vl.s , 15692
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_ld.s , 12376
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_ld_vl.s , 13656
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md.s , 12765
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_md_vl.s , 14073
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/arm/startup_stm32f10x_xl.s , 15955
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_cl.s , 13072
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_hd.s , 13160
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_hd_vl.s , 12482
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_ld.s , 9814
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_ld_vl.s , 10562
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_md.s , 10269
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_md_vl.s , 11058
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/gcc_ride7/startup_stm32f10x_xl.s , 13261
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_cl.s , 16626
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_hd.s , 16229
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_hd_vl.s , 15675
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_ld.s , 12650
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_ld_vl.s , 12950
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_md.s , 12912
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_md_vl.s , 13601
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/iar/startup_stm32f10x_xl.s , 16628
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_cl.s , 12604
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_hd.s , 12592
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_hd_vl.s , 12239
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_ld.s , 9826
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_ld_vl.s , 10275
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_md.s , 10275
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_md_vl.s , 10757
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/startup/TrueSTUDIO/startup_stm32f10x_xl.s , 13252
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x.h , 633941
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.c , 36557
╡╫░σ│╠╨≥/CMSIS/CM3/DeviceSupport/ST/STM32F10x/system_stm32f10x.h , 2085
╡╫░σ│╠╨≥/CMSIS/CMSIS debug support.htm , 9310
╡╫░σ│╠╨≥/CMSIS/CMSIS_changes.htm , 12531
╡╫░σ│╠╨≥/CMSIS/Documentation/CMSIS_Core.htm , 57004
╡╫░σ│╠╨≥/CMSIS/License.doc , 39936
╡╫░σ│╠╨≥/Project/JLink Regs CM3.txt , 497
╡╫░σ│╠╨≥/Project/JLinkLog.txt , 190623
╡╫░σ│╠╨≥/Project/JLinkSettings.ini , 650
╡╫░σ│╠╨≥/Project/List/project.map , 131813
╡╫░σ│╠╨≥/Project/List/startup_stm32f10x_hd.lst , 62585
╡╫░σ│╠╨≥/Project/Obj/app.bin , 18488
╡╫░σ│╠╨≥/Project/Obj/control.crf , 364839
╡╫░σ│╠╨≥/Project/Obj/control.d , 2469
╡╫░σ│╠╨≥/Project/Obj/control.o , 396528
╡╫░σ│╠╨≥/Project/Obj/control.__i , 391
╡╫░σ│╠╨≥/Project/Obj/core_cm3.crf , 3566
╡╫░σ│╠╨≥/Project/Obj/core_cm3.d , 124
╡╫░σ│╠╨≥/Project/Obj/core_cm3.o , 10388
╡╫░σ│╠╨≥/Project/Obj/delay.crf , 365271
╡╫░σ│╠╨≥/Project/Obj/delay.d , 2383
╡╫░σ│╠╨≥/Project/Obj/delay.o , 396828
╡╫░σ│╠╨≥/Project/Obj/encoder.crf , 366104
╡╫░σ│╠╨≥/Project/Obj/encoder.d , 2469
╡╫░σ│╠╨≥/Project/Obj/encoder.o , 398008
╡╫░σ│╠╨≥/Project/Obj/ExtDll.iex , 19
╡╫░σ│╠╨≥/Project/Obj/init.crf , 367222
╡╫░σ│╠╨≥/Project/Obj/init.d , 2340
╡╫░σ│╠╨≥/Project/Obj/init.o , 399956
╡╫░σ│╠╨≥/Project/Obj/jiaodu.crf , 368430
╡╫░σ│╠╨≥/Project/Obj/jiaodu.d , 2426
╡╫░σ│╠╨≥/Project/Obj/jiaodu.o , 406968
╡╫░σ│╠╨≥/Project/Obj/key.crf , 348876
╡╫░σ│╠╨≥/Project/Obj/key.d , 1912
╡╫░σ│╠╨≥/Project/Obj/key.o , 382836
╡╫░σ│╠╨≥/Project/Obj/main.crf , 364779
╡╫░σ│╠╨≥/Project/Obj/main.d , 2340
╡╫░σ│╠╨≥/Project/Obj/main.o , 395868
╡╫░σ│╠╨≥/Project/Obj/misc.crf , 348885
╡╫░σ│╠╨≥/Project/Obj/misc.d , 1975
╡╫░σ│╠╨≥/Project/Obj/misc.o , 379856
╡╫░σ│╠╨≥/Project/Obj/motor.crf , 349966
╡╫░σ│╠╨≥/Project/Obj/motor.d , 1948
╡╫░σ│╠╨≥/Project/Obj/motor.o , 384140
╡╫░σ│╠╨≥/Project/Obj/mpu6050.crf , 367632
╡╫░σ│╠╨≥/Project/Obj/mpu6050.d , 2469
╡╫░σ│╠╨≥/Project/Obj/mpu6050.o , 399652
╡╫░σ│╠╨≥/Project/Obj/pazzy.crf , 366093
╡╫░σ│╠╨≥/Project/Obj/pazzy.d , 2383
╡╫░σ│╠╨≥/Project/Obj/pazzy.o , 400960
╡╫░σ│╠╨≥/Project/Obj/pid.crf , 355836
╡╫░σ│╠╨≥/Project/Obj/pid.d , 1936
╡╫░σ│╠╨≥/Project/Obj/pid.o , 383960
╡╫░σ│╠╨≥/Project/Obj/project.axf , 397476
╡╫░σ│╠╨≥/Project/Obj/project.hex , 61836
╡╫░σ│╠╨≥/Project/Obj/project.htm , 121954
╡╫░σ│╠╨≥/Project/Obj/project.lnp , 676
╡╫░σ│╠╨≥/Project/Obj/project.plg , 190
╡╫░σ│╠╨≥/Project/Obj/project.sct , 479
╡╫░σ│╠╨≥/Project/Obj/project.tra , 2346
╡╫░σ│╠╨≥/Project/Obj/startup_stm32f10x_hd.d , 106
╡╫░σ│╠╨≥/Project/Obj/startup_stm32f10x_hd.o , 6840
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_flash.crf , 355895
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_flash.d , 2338
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_flash.o , 390432
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_gpio.crf , 352383
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_gpio.d , 2305
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_gpio.o , 386260
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_i2c.crf , 354814
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_i2c.d , 2272
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_i2c.o , 391452
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_it.crf , 348528
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_it.d , 2187
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_it.o , 380752
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_rcc.crf , 355958
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_rcc.d , 2272
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_rcc.o , 390680
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_tim.crf , 370971
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_tim.d , 2272
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_tim.o , 414984
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_usart.crf , 354496
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_usart.d , 2338
╡╫░σ│╠╨≥/Project/Obj/stm32f10x_usart.o , 390428
╡╫░σ│╠╨≥/Project/Obj/sys.crf , 365793
╡╫░σ│╠╨≥/Project/Obj/sys.d , 2297
╡╫░σ│╠╨≥/Project/Obj/sys.o , 398644
╡╫░σ│╠╨≥/Project/Obj/system_stm32f10x.crf , 350029
╡╫░σ│╠╨≥/Project/Obj/system_stm32f10x.d , 2265
╡╫░σ│╠╨≥/Project/Obj/system_stm32f10x.o , 380068
╡╫░σ│╠╨≥/Project/Obj/usart.crf , 365908
╡╫░σ│╠╨≥/Project/Obj/usart.d , 2383
╡╫░σ│╠╨≥/Project/Obj/usart.o , 398680
╡╫░σ│╠╨≥/Project/Obj/╡≈╩╘╝╟┬╝.d , 38
╡╫░σ│╠╨≥/Project/Obj/╡≈╩╘╝╟┬╝.__i , 368
╡╫░σ│╠╨≥/Project/project.plg , 15264
╡╫░σ│╠╨≥/Project/project.uvgui.Administrator , 232740
╡╫░σ│╠╨≥/Project/project.uvgui.Liuxuebing , 139434
╡╫░σ│╠╨≥/Project/project.uvgui.user , 136540
╡╫░σ│╠╨≥/Project/project.uvgui_Administrator.bak , 232748
╡╫░σ│╠╨≥/Project/project.uvgui_Liuxuebing.bak , 139442
╡╫░σ│╠╨≥/Project/project.uvgui_user.bak , 136516
╡╫░σ│╠╨≥/Project/project.uvopt , 160773
╡╫░σ│╠╨≥/Project/project.uvproj , 18823
╡╫░σ│╠╨≥/Project/project_GPIO.dep , 9080
╡╫░σ│╠╨≥/Project/project_Target 1.dep , 74
╡╫░σ│╠╨≥/Project/project_uvopt.bak , 160773
╡╫░σ│╠╨≥/Project/project_uvproj.bak , 18853
╡╫░σ│╠╨≥/readme.txt , 96
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/misc.h , 8982
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_adc.h , 21690
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_bkp.h , 7555
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_can.h , 27559
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_cec.h , 6573
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_crc.h , 2162
╡╫░σ│╠╨≥/STM32F10x_StdPeriph_Driver/inc/stm32f10x_dac.h , 15233
最多只能显示150条信息!