Based on the [LCSC Liangshanpai Development Board] Smart Self-Balancing Vehicle Project

Project Progress: First release on October 15,
2023.
Basic hardware is OK. Code debugging up to speed loop
10.17. Hardware additions: voltage acquisition switch and power interface position adjusted.
Project Purpose:
Currently, there are many projects for balancing carts, most of which use modular assembly. This results
in large size, takes up a lot of space, and the wiring is not very aesthetically pleasing.
Furthermore, it doesn't allow for learning PCB design skills; one can only learn through code.
Therefore, this project was created, requiring only one control board to integrate all the necessary hardware.
It is compact, aesthetically pleasing, and allows for more learning, making it very suitable for use with the Liangshanpai development board.
Project Design: The project design
consists of the following parts:

schematic design,
PCB design,
code debugging

, and supplementary notes.
Components are based on the schematic. Code
will be uploaded later after speed loop debugging is completed.
Documentation will also be improved when time permits. Any suggestions are welcome in the comments.
The following shows the effect after debugging a single upright loop.