Aokee_lite: Two-wheeled self-balancing scooter (development board)

Aokee-lite
~ My Dear Balance Infantry ~
Project Description

LCSC Hardware Open Source Platform: http://oshwhub.com/colorful-sun/aokee_lite
Code Repository: https://github.com/dokee39/Aokee-lite
Although it's a balance car, the code was written to the standard of a balance infantry car.
It attempts to use C++ to implement a motor library that separates the interface and calculation, making it easy to port to other platforms.
Both the chassis and motors are template classes, allowing switching between different chassis or using different motors. Only the config.hpp file needs to be modified.
It attempts to use LQR, but currently only PID is used for timing. After FOC is implemented, it will be tested with a small brushless motor and LQR.


2024 Southwest University GKD Team PCB Design Tutorial (not yet completed at the time of editing this project description).
3D model
can be found in the LCSC Open Source Plaza attachment.
Blue represents the chassis, compatible with two different sized motors.
Yellow represents the upper load (the car can also be placed upside down for easy debugging).


Main Component Description
Power Supply:
12V power battery powered. Reverse polarity
protection: PMOS. CSD25402Q3A, 6mΩ
DC-DC to 5V; TPS54202, 2A
LDO to 3.3V; TPRT9013-33GB, 500mA;


Motor driver: A4950; Large
motor
: Lunqu Technology MG513
; Small motor: Lunqu Technology MG310.
In actual use, it not only has large backlash but also low torque.


MCU: STM32F405RGT6
; Gyroscope: BMI088.
I forgot to extend the solder pads and forgot to use a stencil, making it too difficult to solder. In actual testing, an external MPU6050 was used.


Control: Bluetooth serial port or DJI remote controller DBUS (DT-07);
Others: Buttons, buzzer, WS2812 LED, SWD debugging, serial to USB, redundant pins.