[LiChuang Development Board] Based on Liangshan School's intelligent balancing car

**Working on the code... Current version 1.4V**
**Test code has been uploaded as an attachment. If you have any questions, please leave a message**
1.4 Update Log:
1. Fix the placement of the Bluetooth module.
2. Fix the OLED screen packaging error.
3. Port the PS2 controller code

1.3 Update Log:
1. Fix the assembly positioning hole.
2. Adjust the power interface position.
3. Port the Bluetooth code
4. Port the ws2812 code
5. Port the ultrasonic ranging code
6. Fix the PS2 package

1.2 Update Log:
1. Fix the encoder power supply pin sequence.
2. Adjust the position of the Bluetooth module.

1.1 Update log:

1. Repair the PS2 mother socket package.
2. Modify the reserved serial port silk screen (both front and back, easy to use).
3. Modify the distance between the power switch and the power input.
4. Remove the C7 capacitor.
5. Modify the TB6612 wiring to prevent soldering.

## Introduction
This work is an intelligent balancing car based on the Liangshan School development board made by LiChuang. The car integrates common sensors, controllers and displays. And a serial port is reserved for serial voice or serial peripherals such as OPENMV.

## Functions of the work1

. The car has very complete functions, covering most of the functions we need, such as ultrasonic following, tracking route, Bluetooth control, PS2 game controller remote control, balancing car learning, color light control, etc.

2. The front and rear assembly holes of the car PCB board are reserved for installation of peripherals, such as tracking sensors, distance sensors, visual sensors, etc., which are very convenient to use. **M3 copper columns and screws are preferred for fixing holes.

3. The car motor selects **12V motor with encoder**, so this work uses **12V lithium battery power supply**. Some motor drivers are 7.4V and 9V, please pay attention to the motor selection.

4. The buzzer uses an active buzzer, no PMW is required (the Liangshan School has fewer data lines), but this circuit is also suitable for buzzers controlled by passive PWM mode, which is universal here. (Actually, to reduce code development - lazy)
5. The TB6612FNG motor driver chip uses 12V power supply, and the power supply is directly powered by the battery. Please be careful when welding, please do not short-circuit, and ensure safety before powering on. Or the user can add protection measures by himself, such as adding a voltage regulator chip or a voltage regulator diode. It is recommended to add a voltage regulator diode to 5V, **to ensure that the power supply is correct and will not burn the subsequent circuit! **




![Balancing Car Hardware Block Diagram.png]
## Software Description
** Most of the software code is provided in the attachment. Currently, it is tentatively planned to upload the basic test code**
* [ ] indicates unfinished
* [x] indicates completed and uploaded attachments

* * *


**Code progress:**
1. [x] Ultrasonic ranging code2
. [x] Tracking sensor test code3
. [x] WS2812 test code4
. [x] Voltage detection test code5
. [x] OLED test code6
. [x] HC-05 Bluetooth test code7
. [x] PS2 remote control handle test
code8. [x] Car balance code


## Physical display description
! [Full body photo of the car] ! [Side photo of the car]
## Precautions

When welding, please pay attention to the welding order to ensure that the power supply is not short-circuited and the 5V voltage is not over-voltage. The welding order should follow the principle of from short to small, from inside to outside.