STM32 small car

This project introduces
a multi-functional car based on the STM32F103 microcontroller.
The project includes the car's circuitry and code.
Features include:
1. Infrared tracking and obstacle avoidance;
2. Ultrasonic following and hand-held control;
3. Bluetooth remote control (including car mode switching, motor speed switching, buzzer, and ultrasonic gimbal direction adjustment; detailed instructions can be found in the BLE_CMD.txt file within the project code);
4. Battery level monitoring;
5. Car running status display.
The project code is open-source on Gitee: https://gitee.com/huantianxiang/stm32-multifunctional-car
PS: The project still has several minor issues. The circuit design and code are for reference only. The author may erratically fix bugs; it is recommended to download the project code from Gitee.
Changelog:
1. The circuit error requiring a power bank in the demo video has been corrected; a new power switching circuit has been incorporated into the project.
2. A bug related to a mutex lock has been fixed.
Installation instructions:


Based on the PCB design, fabricate the PCB and solder the Bluetooth module (TB link: https://item.taobao.com/item.htm?spm=a1z09.2.0.0.58002e8dYwcRfT&id=680407598171&_u=t201f92g3ff119).


Connect the PCB using a Type-C cable and burn the HEX


file. Assemble the car according to the schematic diagram of the PCB design.


Instructions:


The Type-C port on the PCB is used for power supply and STM32 programming


. Commands sent via Bluetooth must end with "./", otherwise they will not be counted as commands


. The car's default speed is zero when it starts. If the car stops after switching modes, check the OLED screen to see if the speed is not zero. If it is zero, set the car speed via Bluetooth.