STM32F4- 2015
It was 6 years ago. At that moment, I forgot to write the clear Readme. However, recently some of people watching the my demo video asks me about the source code.
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You may find the code to read sensors and control robot by using the STM33f4 SDK here
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Beside that, you also can find the GUI to setup and tool the PID by using a C# GUI
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The orcad file to design & menufactor the two layers electrical mother board here
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Please read the file readme.pdf to get more details.