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Code for a self-balance two wheel vehicle's control system

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Self-Balance_Vehicle

Code for a self-balance two wheel vehicle's control system

main controller ic: `STM32F103C8T6, cortex-m3@72MHz, FLASH Size: 64KB, SRAM Size: 20KB.`

development IDE: `Keil MDK uVision V5.24.2.0 .`

Toolchain: `MDK-ARM Plus Version: V5.24.1 .`

IMU Sensor: `Invensense MPU6050 Motion sensor, interface via i2c.`

Motor Driver Chip: `TB6612FNG, a driver IC for DC motor with output transistor in LD MOS structure with low ON-resistor.`

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Code for a self-balance two wheel vehicle's control system

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C 94.0%
C++ 4.8%
Assembly 1.2%