Intelligent Car - Based on Skystar STM32

Video Link:
[Bilibili Video - Function Demonstration and Introduction] [SkyStar Expansion Board] https://www.bilibili.com/video/BV1GZskehEo7/?share_source=copy_web&vd_source=313763c4cf8391e7e2d0b4c06a66f331
Project Introduction
This expansion board is designed for the logistics handling track of the 2025 Industrial Training Competition. The main controller is SkyStar STM32F407VET6. This expansion board can drive stepper motors, communicate via OpenMV, use Bluetooth wireless communication, display via serial port, debug with buttons and OLED screen, and learn servo control.
Project Functions
This project is an expansion learning board designed based on the SkyStar STM32F407VET6 development board of LCSC for preparing for the logistics handling track of the Industrial Training Competition. There are two 8P terminals on each side of the board that can be connected to stepper motors (Taobao Zhang Datou stepper motors) as wheel drive motors for the training vehicle. There is also a motor interface at the front that can be used to connect the sliding rail lifting motor. There is one servo interface for cargo gripping. There are two OpenMV interfaces for serial communication with cameras; one camera identifies and locates the cargo, and the other is used to recognize QR codes to obtain the handling sequence list. There is one serial screen interface for displaying the acquired handling information. Four buttons are used for parameter adjustment, and an OLED screen displays data interaction.
PCB Design Description:
This project consists of four main parts: power supply, main control circuit, peripheral interface circuit, and debugging module.
Example Figure 1 – Main Control Circuit:
All I/O pins are additionally brought out for easy subsequent development and debugging.
Example Figure 2 – Peripheral Interface Circuit:
Each stepper motor can communicate with the main control via serial communication. Here, I have brought out the stepper motor communication interface and one serial port of the microcontroller. If serial communication is needed to control the motor, jumper caps can be used for connection. If serial communication is not needed, the pins can be used for other purposes.
Example Figure 3 – Debugging Module Circuit:
The button interface and the corresponding microcontroller I/O port are brought out separately. If button debugging is needed, jumper caps can be used for connection, or other purposes can be used.
Example Figure 4 -- Power Module Circuit:
Uses an LM2596 voltage regulator module. One fixed 5V output powers the microcontroller, camera, serial port screen, and Bluetooth; one adjustable output powers the servo motor. Two voltage regulator modules are used to prevent the servo motor power supply circuit from affecting the power supply to the microcontroller and other modules.
Software code includes:
one code for communication with OpenMV, enabling camera line tracking; the camera returns the midpoint coordinates of the line.
One stepper motor drive test code.
Important material:
The motor was purchased from Taobao (Zhang Datou stepper motor).
Assembly instructions:
Bluetooth module assembly,
servo motor module assembly,
stepper motor assembly,
power supply battery (12V lithium battery pack).
[Image of the actual product]