This is my first time to participate in and design a smart car project. There are many things that are not perfect, so please forgive me.
## Notes
* The car can use 5V-12V batteries. The specific V power supply used depends on the motor used. For example, a 7.4V motor must use a 7.4V battery.
## 1. Introduction to the work
A balancing car is based on the development board of Lichuang Liangshan School. The main control core is GD32F450ZGT6. The expansion board has no SMD components and adopts a modular design, which is easy to weld and repair. The expanded version introduces common module pins for smart cars, and can be connected to tracking modules, ultrasonic modules, Bluetooth modules, OLED displays, etc. to facilitate subsequent upgrades of the car.
2. Function introduction
** 1. Power supply**
The power supply part of the extended version uses the MP1584EN power step-down module, with an input voltage of 4.5V-28V, an output voltage of 5V, and a maximum output current of 3A, which supplies power to other modules and the main control board. . ![1677267480(1).jpg]
![45187ece668efa5db13e808161e0323.jpg]
**2. Motor drive**
The motor drive uses the TB6612FNG module, which can also be replaced by the DRV8833 module, but it is recommended to use TB6612 to avoid unnecessary problems.
The maximum voltage that the VM port can withstand is 15V. I use 12V myself and it works well in personal testing.
![1677267872(1).jpg]
![image.png]
**3. Encoder interface**
The encoder interface pins of different motors are not unique. You need to rearrange the cables according to the correct interface sequence. wiring.
![image.png]
**4. SBUS**
Although this module seems useless, if you have an idle remote control and receiver, you can control the car remotely, and the range is farther than Bluetooth. You can choose not to weld this part if it is not needed.
![image.png]
**5. ADC voltage acquisition**
detects the power supply voltage
![image.png]
**6. oled**
supports 4-pin OLED display. If OLED is not used, it can be replaced with another one that supports IIC Protocol sensor
![image.png]
**7. Tracking module**
can be connected to 5 tracking module pins and supports infrared and grayscale tracking sensors.
![image.png]
**8. Ultrasonic module**
The ultrasonic module can use HC-SR04, and the module pins can support UART and IO ports to transmit data.
![image.png]
**9. Bluetooth interface**
Bluetooth module pins, using serial port to transmit data, can be used for Bluetooth remote control cars, and can use HC-05 and other Bluetooth modules.
![image.png]
**10. MPU6050**
MPU6050 provides attitude angle and angular acceleration to control the balance of the car. A few dollars each, quite cheap.
![image.png]
![image.png]
**11. Buttons and power lights **
Buttons are used for debugging.
![image.png]
![image.png]
12. The motor
balancing car must choose a DC reduction motor with an encoder. The motor model is arbitrary. You can choose a 12V or 7.4V motor. This car uses a 12V MG513P30 motor. , 520 or 370 motors can also be used.
![image.png]
3. Summary
This is the first time I have participated in the training camp of Jialichuang. Although I have played with microcontrollers for a while before, this is the first time I have used the GD32 microcontroller. Official information provided by Lichuang Liangshan School There are quite a lot, and it also provides a lot of help for us to learn the GD32 microcontroller. Although the smart car project has official tutorials and cases, I would rather make the first balancing car in my life. I also encountered many difficulties during the production process, such as the board being blown up during the process, and it was painful to adjust the PID, etc. . Because it was my first time to come into contact with the smart car project, the completion of this project was not that good. However, I will work hard to learn and improve in the future. I am also very grateful to Jialichuang for providing a training camp as a platform for us to learn and communicate. .
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