[Verified] ROS car control module based on STM32F103RCT6

The product design is primarily intended for use with the project https://oshwhub.com/danxinzhe/dian-yuan-ban-gai-ban. To reduce development costs, I manufactured the core board and control board separately. This minimizes losses due to design errors. Once the control board is completed, it can be used for simple driver testing with a microcontroller. After confirming that there are no issues, the core board will be manufactured. To reduce size and simplify wiring, the core board uses a 4-layer design.
 
The onboard MPU6050 and INA219 have been verified to be able to collect robot posture and battery data in real time. The battery is powered by 12V. The board also features two USB-to-serial adapters using CH9102F. This board is small and inexpensive, includes an automatic download circuit, and allows for code debugging via the SWD port. It can be directly connected to a Linux host computer via a Typc interface, which is very convenient. The
 
code is largely based on the code from Yabo Intelligent Technology's car, as the pin definitions are mostly designed accordingly. The main appeal of designing and tinkering is the fun. A purchased board might cost around 300 RMB, while a self-built one would cost around 100 RMB. The components are not very expensive.
 
The lower-level machine code adaptation is complete; other specific algorithms still need further refinement.
 
It features a multi-button layout and an OLED screen, making it a viable development board. It also supports RGB light strips, which have been successfully tested. A serial port is provided for connecting WiFi or Bluetooth, allowing for remote-controlled car functionality. That's all for now.
 
 
The automatic download circuit has a minor issue, but it's not a major problem; the SWD interface should be ignored. Two videos have been uploaded showing how to use the module; the basic functions are now implemented.