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Self-Balance_Vehicle

Code for a self-balance two wheel vehicle's control system

main controller ic: STM32F103C8T6, cortex-m3@72MHz, FLASH Size: 64KB, SRAM Size: 20KB.

development IDE: Keil MDK uVision V5.24.2.0 .

Toolchain: MDK-ARM Plus Version: V5.24.1 .

IMU Sensor: Invensense MPU6050 Motion sensor, interface via i2c.

Motor Driver Chip: TB6612FNG, a driver IC for DC motor with output transistor in LD MOS structure with low ON-resistor.

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