├── .gitignore ├── .vscode └── settings.json ├── README.md ├── img ├── 1.PNG ├── 10.png ├── 2.PNG ├── 2_2_11_1.png ├── 2_2_11_2.png ├── 2_2_11_3.png ├── 2_2_12_1.PNG ├── 2_2_12_2.PNG ├── 2_2_12_3.PNG ├── 2_2_12_4.PNG ├── 2_2_12_5.PNG ├── 2_2_12_6.PNG ├── 3.PNG ├── 4.PNG ├── 5.PNG ├── 6.PNG ├── 7.png ├── 8.png ├── 9.png ├── IMG_20190328_102123.jpg ├── IMG_20190328_102145.jpg ├── IMG_20190328_102156.jpg ├── IMG_20190328_143003.jpg ├── IMG_20190328_143016.jpg ├── IMG_20190328_143153.jpg ├── IMG_20190328_143245.jpg ├── IMG_20190328_143407.jpg ├── OLED.PNG ├── XCOM.PNG ├── tx7.PNG ├── 串口控制指令.PNG ├── 位置控制.PNG ├── 位置控制模式.PNG ├── 小车模型.PNG ├── 接收数据.PNG ├── 机械1.PNG ├── 机械2.PNG ├── 电机参数.jpg ├── 电机参数.png ├── 电机方向控制.PNG ├── 电机机械图.png ├── 电机机械图2.png ├── 电机速度控制.PNG ├── 电机驱动.png ├── 系统初始化.png ├── 载重.PNG ├── 速度控制.PNG └── 速度控制模式.PNG └── source code ├── BALANCE ├── CONTROL │ ├── control.c │ └── control.h ├── DMP │ ├── dmpKey.h │ ├── dmpmap.h │ ├── inv_mpu.c │ ├── inv_mpu.h │ ├── inv_mpu_dmp_motion_driver.c │ └── inv_mpu_dmp_motion_driver.h ├── DataScope_DP │ ├── DataScope_DP.C │ └── DataScope_DP.h ├── MPU6050 │ ├── MPU6050.c │ └── mpu6050.h ├── filter │ ├── filter.c │ └── filter.h └── show │ ├── show.c │ └── show.h ├── HARDWARE ├── ADC │ ├── adc.c │ └── adc.h ├── CAN │ ├── can.c │ └── can.h ├── DataScope_DP │ ├── DataScope_DP.C │ └── DataScope_DP.h ├── ENCODER │ ├── encoder.c │ └── encoder.h ├── EXTI │ ├── exti.c │ └── exti.h ├── IIC │ ├── IOI2C.c │ └── IOI2C.h ├── KEY │ ├── key.c │ └── key.h ├── LED │ ├── LED.C │ └── LED.H ├── MOTOR │ ├── motor.c │ └── motor.h ├── OLED │ ├── oled.c │ ├── oled.h │ └── oledfont.h ├── PS2 │ ├── pstwo.c │ └── pstwo.h ├── STMFLASH │ ├── stmflash.c │ └── stmflash.h ├── TIMER │ ├── timer.c │ └── timer.h └── USARTX │ ├── usartx.c │ └── usartx.h ├── OBJ ├── Minibalance.hex ├── Minibalance.uvgui.passoni └── Minibalance.uvopt ├── SYSTEM ├── delay │ ├── delay.c │ └── delay.h ├── sys │ ├── core_cm3.h │ ├── stm32f10x.h │ ├── sys.c │ ├── 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