Balancing car based on STM32 control

      The production of the balancing car requires two DC reduction motors, an MPU6050 module, a step-down module, a minimum system board, a tb6612 module, ultrasonic and 0.96-inch OLED, etc., and a 12v lithium battery. The most important step in making a balancing car is to be familiar with the PID algorithm and learn how to adjust the PID parameters. By adjusting the parameters, the balancing car can stand upright without falling. At the same time, the car functions are expanded, and ultrasonic and Bluetooth modules are added to achieve obstacle avoidance and Bluetooth remote control. The car has been studied for a long time, and many boards have been made. However, the balancing car still cannot stand upright very stably, which is a pity. This may be related to the motor dead zone, or it may be related to the fact that the PID has not been adjusted to a perfect effect. Theoretically, the car can be stationary, but this may be as difficult as ascending to heaven. There are still relatively large gains in learning during this period. I am more familiar with how to draw the board, the idea of ​​code writing and the entire process of project production. If you want to learn the code part, you can go to station B to watch the video of the world walking big brother.