Remote control balancing car

The schematic design shows that
STM32CBT6 is used as the main control. C8T6 was originally used, but the memory was insufficient.
Use TB6612 as motor driver.
There are two buttons, button 1 is used as the motor start button, and button 2 is used as the motor stop button. But the pins of button 2 in the current project need to be changed, because the current connection is PB1, and PB1 is also in encoder mode, so it won't work. Just replace PB1 with a useless ordinary GPIO port. But it’s okay if you don’t replace it. If you don’t replace it, this button will just be a decoration. I solved the problem of button 2 by pressing button 1 once to start the motor and pressing it again to stop.
There are four LED lights, light 1 is used as an alarm light when an error occurs, light 2 is a light that can be used at will, and the other two lights are used as 5V and 3.3V indicator lights respectively.
There's not much else to say.
PCB design instructions
should note that the maximum output current of TB6612 is 3.2A, so the output line width must be greater than or equal to 40mil.
Physical display instructions
 
material link
       motor is 12V, 500 line GMR, 1:30. Why do I have so much money to buy a 500-wire GMR? Because this motor is from a laboratory (dogehttps://item.taobao.com/item.htm?spm=a230r.1.14.11.6d7110b2j4x0os&id=45347924687&ns=1&abbucket=15#detail
       chassis In fact, it is not difficult to draw one by yourself, but the printing materials are better. Chassis link 2WD balance car 4WD four-wheel drive smart car acrylic metal chassis bluetooth tracking car diy obstacle avoidance - Taobao (taobao.com)
       The location of the perforation of the PCB and the purchase The position of the chassis is actually not quite right, because the location of the perforation corresponds to the hole in the chassis I drew myself. However, if the printing material is not good enough, the chassis I drew myself will be useless. I bought the chassis directly from Taobao. However, the current perforation can also be used. On the chassis I bought.
 
This is a problem I recorded during the production project (35 messages) Open Source Remote Control Balance Car_Recording the Problems in Making a Balance Car_Huang Shuaibi’s Blog-CSDN Blog
Station B Video: Open Source Balance Car-Code Roughly review_bilibili_bilibili
Other attachments upload
link: https://pan.baidu.com/s/1z_di27qAoVvRJ5N9zeb9wQ?pwd=x3y8 Extraction code: x3y8