Remote control mecanum wheel car

 
 
I am about to go home for the Chinese New Year. In order to deal with the fact that the children of my relatives who came home did not have toys, I made them a remote-controlled Mecanum wheel car (actually I wanted to play with it).
The car main control uses STM32F103RCT6, and the remote control main control uses STM32F103C8T6. The codes are all generated using STM32CUBEMX and are basically commented. The debugging of basic peripherals can be completed in one day.
Since I have to start preparing for the exam near the end of the semester, the cars have only completed basic functions, but all peripherals have been debugged.
Car side: MPU6050, 0.96OLED, Bluetooth, nrf24l01, the motor and encoder are tested normally.
LM2596 is used to convert 12V to 5V, and rt9013
motor driver is used to convert 5V to 3.3V. It uses TB6612
and basically uses the resources of STM32F103RCT6.
The remote control terminal hardware design is relatively simple
and basically complete. The resources of STM32F103RCT6 are used.
Due to the first version and time constraints, both the hardware and software have some flaws, which will be modified in the future!
There are currently deficiencies in the software part, and more gameplay will be implemented in the future!