STM32 controls the upright car, using analog sensors, only the upright part. No speed closed loop

Simulation\\Readme.txt ..........\\SD card font backup\\HZLIB.bin ..........\\............\\pic1.bmp ..........\\............\\pic2.bmp ..........\\............\\pic3.bmp ..........\\Program\\CMSIS\\core_cm3.c ..........\\....\\.....\\core_cm3.h ..........\\....\\.....\\startup\\startup_stm32f10x_cl.s ..........\\....\\.....\\.......\\startup_stm32f10x_hd.s ..........\\....\\.....\\.......\\startup_stm32f10x_hd_vl.s ..........\\....\\.....\\.......\\startup_stm32f10x_ld.s ..........\\....\\.....\\.......\\startup_stm32f10x_ld_vl.s ..........\\....\\.....\\.......\\startup_stm32f10x_md.s ..........\\....\\.....\\.......\\startup_stm32f10x_md_vl.s ..........\\....\\.....\\.......\\startup_stm32f10x_xl.s ..........\\....\\.....\\stm32f10x.h ..........\\....\\.....\\system_stm32f10x.c ..........\\....\\.....\\system_stm32f10x.h ..........\\....\\datasheet\\2.4TFT touch controller tsc2046.pdf ..........\\....\\.........\\ILI9341_DS_V1[1].09_20110315.pdf ..........\\....\\.........\\Outline- BL32007V2.pdf ..........\\....\\FWlib\\inc\\misc.h ..........\\....\\.....\\...\\stm32f10x_adc.h ..........\\....\\.....\\...\\stm32f10x_bkp.h ..........\\....\\.....\\...\\stm32f10x_can.h ..........\\....\\.....\\...\\stm32f10x_cec.h ..........\\....\\.....\\...\\stm32f10x_crc.h ..........\\....\\.....\\...\\stm32f10x_dac.h ..........\\....\\.....\\...\\stm32f10x_dbgmcu.h ..........\\....\\.....\\...\\stm32f10x_dma.h ..........\\....\\.....\\...\\stm32f10x_exti.h ..........\\....\\.....\\...\\stm32f10x_flash.h ..........\\....\\.....\\...\\stm32f10x_fsmc.h ..........\\....\\.....\\...\\stm32f10x_gpio.h ..........\\....\\.....\\...\\stm32f10x_i2c.h ..........\\....\\.....\\...\\stm32f10x_iwdg.h ..........\\....\\.....\\...\\stm32f10x_pwr.h ..........\\....\\.....\\...\\stm32f10x_rcc.h ..........\\....\\.....\\...\\stm32f10x_rtc.h ..........\\....\\.....\\...\\stm32f10x_sdio.h ..........\\....\\.....\\...\\stm32f10x_spi.h ..........\\....\\.....\\...\\stm32f10x_tim.h ..........\\....\\.....\\...\\stm32f10x_usart.h ..........\\....\\.....\\...\\stm32f10x_wwdg.h ..........\\....\\.....\\src\\misc.c ..........\\....\\.....\\...\\stm32f10x_adc.c ..........\\....\\.....\\...\\stm32f10x_bkp.c ..........\\....\\.....\\...\\stm32f10x_can.c ..........\\....\\.....\\...\\stm32f10x_cec.c ..........\\....\\.....\\...\\stm32f10x_crc.c ..........\\....\\.....\\...\\stm32f10x_dac.c ..........\\....\\.....\\...\\stm32f10x_dbgmcu.c ..........\\....\\.....\\...\\stm32f10x_dma.c ..........\\....\\.....\\...\\stm32f10x_exti.c ..........\\....\\.....\\...\\stm32f10x_flash.c ..........\\....\\.....\\...\\stm32f10x_fsmc.c ..........\\....\\.....\\...\\stm32f10x_gpio.c ..........\\....\\.....\\...\\stm32f10x_i2c.c ..........\\....\\.....\\...\\stm32f10x_iwdg.c ..........\\....\\.....\\...\\stm32f10x_pwr.c ..........\\....\\.....\\...\\stm32f10x_rcc.c ..........\\....\\.....\\...\\stm32f10x_rtc.c ..........\\....\\.....\\...\\stm32f10x_sdio.c ..........\\....\\.....\\...\\stm32f10x_spi.c ..........\\....\\.....\\...\\stm32f10x_tim.c ..........\\....\\.....\\...\\stm32f10x_usart.c ..........\\....\\.....\\...\\stm32f10x_wwdg.c ..........\\....\\Listing\\startup_stm32f10x_hd.lst ..........\\....\\.......\\STM32-DEMO.map ..........\\....\\Output\\adc.crf ..........\\....\\......\\adc.d ..........\\....\\......\\adc.o ..........\\....\\......\\control.crf ..........\\....\\......\\control.d ..........\\....\\......\\control.o ..........\\....\\......\\core_cm3.crf ..........\\....\\......\\core_cm3.d ..........\\....\\......\\core_cm3.o ..........\\....\\......\\ExtDll.iex ..........\\....\\......\\lcd.crf ..........\\....\\......\\lcd.d ..........\\....\\......\\lcd.o ..........\\....\\......\\lcd_botton.crf ..........\\....\\......\\lcd_botton.d ..........\\....\\......\\lcd_botton.o ..........\\....\\......\\main.crf ..........\\....\\......\\main.d ..........\\....\\......\\main.o ..........\\....\\......\\main.__i ..........\\....\\......\\misc.crf ..........\\....\\......\\misc.d ..........\\....\\......\\misc.o ..........\\....\\......\\motor.crf ..........\\....\\......\\motor.d ..........\\....\\......\\motor.o ..........\\....\\......\\pwm_output.crf ..........\\....\\......\\pwm_output.d ..........\\....\\......\\pwm_output.o ..........\\....\\......\\spi_mma.crf ..........\\....\\......\\spi_mma.d