Balance car with TB6612 drive

This project is a balance car built using the Liangshanpai development board. I integrated all the necessary modules onto one board, plus a TB6612 driver. This driver was developed after researching a module purchased by someone else, and it has been verified to be usable. The use of the hole in the disc works without any problems. This project uses a 0.96-inch screen, an ultrasonic module, a self-made driver module, a buzzer, a Bluetooth module, an MPU6050 module, and grayscale to achieve line tracking and remote control functions.
  Next, I'll explain the modules I used, my learning methods, and the process. First, for the 0.96-inch screen, you mainly need to learn IIC, and then briefly learn interface graphic design.
The MPU6050 is used for balance, reading the accelerometer measurements (raw values) for the X/Y/Z axes, and it also
transmits data via IIC.
Then there's the ultrasonic module for distance measurement and grayscale line tracking. I didn't include grayscale because I didn't have it.
Because long-distance control is required, Bluetooth control is necessary. The HC-05 Bluetooth module is a master-slave integrated module, connecting via UART and MCU. The car is controlled via a mobile phone. Note that it needs to be powered on at 3.3V, and RXD and TXD need to be cross-connected with a baud rate of 38400.
Regarding the learning and application of PID, we first need to know its uses. Secondly, the uses of PID are: 1. Basic requirements for automatic control systems: stability, accuracy, and speed: Stability (P and I decrease system stability, D increases system stability): In a balanced state, after a disturbance, the controlled variable can reach a certain stable state after a period of time; Accuracy (P and I increase steady-state accuracy, D has no effect): The steady-state error of the system when it is in a steady state; Speed ​​(P and D increase response speed, I decrease response speed): The system's requirements for dynamic response. Generally measured by the length of the transition time. 2. Stability: When the system is in a balanced state, after a disturbance, if the system output can recover to the original steady-state value, then the system is stable; otherwise, the system is unstable. 3. Dynamic Characteristics (Transient Characteristics, caused by system inertia): The dynamic response curve of the system output when a given quantity is suddenly applied (or the load changes suddenly). This includes delay time, rise time, peak time, settling time, overshoot, and number of oscillations. Typically: a. Rise time and peak time are used to evaluate the system's response speed; b. Overshoot is used to evaluate the system's damping degree; c. Settling time reflects both response speed and damping degree.
 
 
Next is the TB6612 driver module, which uses a 12V input and has outputs of 12V, 5V, and 3.3V. It also features over-temperature protection, which is truly impressive. This system includes
a brushless motor drive circuit

with LED power indicator
and an OLED display connected via IIC and MCU, primarily displaying PID parameters. It also includes
a BAT (Battery Unit) 18650 battery,
an MCU (GD32F470)
, and a Bluetooth module (HC-05 master-slave integrated module connected via UART and MCU). The system allows control of the vehicle's
buttons, power switch, and PID adjustment via a mobile phone
. A custom-made motor drive board (TB6612FNG) drives two motors (
*2) with encoders and a top
gyroscope (MPU6050)

. Hope this is helpful.