2015年做的一个基于IMU和STM32的独轮自平衡机器人。
仓库包含STM32的固件源码以及机械结构的3D模型,控制板的电路由于年代久远以及不知去向。不过电路很简单,基本就是一个STM32F103的最小系统,引出了两路PWM控制两个电机;两路计时器用于读取编码器数据;以及几路用于读取模拟陀螺仪和加速度计的ADC。感兴趣有基础的同学可以自己研究一下~
This project forked from peng-zhihui/one-robot
2015年做的一个基于IMU和STM32的独轮自平衡机器人
2015年做的一个基于IMU和STM32的独轮自平衡机器人。
仓库包含STM32的固件源码以及机械结构的3D模型,控制板的电路由于年代久远以及不知去向。不过电路很简单,基本就是一个STM32F103的最小系统,引出了两路PWM控制两个电机;两路计时器用于读取编码器数据;以及几路用于读取模拟陀螺仪和加速度计的ADC。感兴趣有基础的同学可以自己研究一下~
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