Simple version of the balance car

Main control: STM32F103C8T6 minimum system board (the code was written and burned with DAP-Link but failed. Later, a "victim" told me that it was pirated and needed to be burned with another package)

Modules: MPU6050, TB6612 motor driver, OLED display module;

Power supply circuit:

1. The laboratory has a 12v power supply available for use.

2. The motor drive needs to be regulated and can be regulated between 8-10v. This design uses a potentiometer instead of the resistor in the feedback part to achieve an adjustable function (to meet the requirements of stable motor driving).

3. TB6612 and motor encoder require 5v power supply.

4. The minimum system board and MPU6050 require 3v3 power supply.

Power supply selection: DC-DC: LM2596-ADJ * 2 LDO: AMS1117*1 The rest can be viewed in the schematic diagram.
Code: Transplant the driver of the punctual atom and the pid algorithm on the Internet;
Note: Pay attention to the placement of your own components when designing (pay attention to the center of gravity. Let it be as central as possible to lay a good foundation for the subsequent PID parameter adjustment)! ! !

            The motor terminal should choose a motor interface that suits your own! ! !

            Reserve a test point to test whether the power supply part is feasible (the power line can be appropriately thickened by about 22mil)! ! ! The

            power supply terminal can also be changed according to your own needs! !

            ! Adding a self-locking switch can facilitate subsequent debugging! ! !

This design does not reserve a wiring port! Everyone can add peripheral interfaces according to their own needs! ! !

Finally~ This "big car" is to design a test version of the "mini balance car"! ! ! ! ! , the mini version of the balance car will be updated later (the color screen display has been replaced, the Bluetooth module has been added, and the movement and rotation of the balance car are controlled by the host computer! ! ! It is undoubtedly a "special medicine" to seduce men! ! ! ! [Little car top hammer.png]