STM32-based self-balancing scooter

IDEA:
Both two-wheeled and one-wheeled self-balancing scooters can move within a small range, unlike traditional four-wheeled vehicles which struggle to turn in tight spaces. With the continuous development of electronic technology, people's demands for transportation functions are increasing, leading to the birth of the self-balancing scooter. The compact portability of electric self-balancing scooters brings great convenience. Simultaneously, their electric drive gives them a mission of green transportation, and their widespread popularity is significant for the construction of civilized cities and the improvement of the living environment. Electric self-balancing scooters save people considerable fuel costs and time, and compared to other modes of transportation, they have a price advantage, making them affordable for most people, and relatively easy to maintain. Adding sensors to the scooter allows for better control and also gives it functions such as carrying and obstacle avoidance. For example, adding a self-following function avoids the disadvantage of needing to carry it by hand.
Hardware circuitry is the foundation of software; if software is likened to the human brain, then hardware is like the various organs. Only when each part of the hardware is properly designed can our software algorithm demonstrate its advantages.
The hardware circuitry mainly includes:
a power supply unit 
(MPU-6050), a sensor unit
(STM32), a main control chip, a
motor drive unit,
an encoder speed measurement unit,
a Bluetooth transmission unit, and
an ultrasonic ranging and obstacle avoidance unit.