FOC brushless self-balancing scooter, after being replicated, can be smooth and stable without adjusting parameters!

If you don't want the hassle of PCB fabrication, component sourcing, and soldering
, you can order directly from UP Workshop! Balance scooter performance test and installation video: https://www.bilibili.com/video/BV1Ur4y1Z7RT/?spm_id_from=333.999.0.0&vd_source=bbf6a497ecef4bee87eacb92c812c613 Note:      Currently known issue: The ESP32 module's battery holder requires strict adherence to positive and negative terminals when installing the battery; otherwise, accidents may occur!
The      PCB can be prototyped using AT32 + MA732 (the software will support other two models later) + ESP32 (as the current code is compatible with these three hardware components)!      The 18650 battery requires a power-type motor. The encoder currently uses the MA732 solution in the video. For the software source code, please refer to the video link and the pinned comment...!      It's recommended that those interested purchase the motor first to avoid future stock shortages or price increases. The motor performance is as shown in the video—excellent! (Become a fan of the uploader to get more updates!) Based on the open-source license: CC BY-NC-SA 4.0! Note that the three connectors in the image above are the correct model numbers according to their names. The attached document provides a Taobao purchase link! October 7, 2023: Corrected the incorrect crystal oscillator model (correct is 25M), fixed some components lacking LCSC Mall numbers, added an STM32 version. Please carefully check the schematic diagram and report any errors! October 8 & 9, 2023: Added an 18650 battery charging module (please pay attention to the battery's positive and negative terminals when charging)!