The latest information the car balance 2016-01- (Kalman filter plate default equipped), this algorithm is quite good, it can effectively estimate, at the closest correct value- angles.

平衡小车最新资料2016-01-（卡尔曼滤波版 默认搭载）\BALANCE\CONTROL\control.c
.................................................\.......\.......\control.h
.................................................\.......\CONTROL
.................................................\.......\DataScope_DP\DataScope_DP.C
.................................................\.......\............\DataScope_DP.h
.................................................\.......\DataScope_DP
.................................................\.......\.MP\dmpKey.h
.................................................\.......\...\dmpmap.h
.................................................\.......\...\inv_mpu.c
.................................................\.......\...\inv_mpu.h
.................................................\.......\...\inv_mpu_dmp_motion_driver.c
.................................................\.......\...\inv_mpu_dmp_motion_driver.h
.................................................\.......\DMP
.................................................\.......\filter\filter.c
.................................................\.......\......\filter.h
.................................................\.......\filter
.................................................\.......\MPU6050\MPU6050.c
.................................................\.......\.......\mpu6050.h
.................................................\.......\MPU6050
.................................................\.......\show\show.c
.................................................\.......\....\show.h
.................................................\.......\show
.................................................\BALANCE
.................................................\HARDWARE\ADC\adc.c
.................................................\........\...\adc.h
.................................................\........\ADC
.................................................\........\DataScope_DP\DataScope_DP.C
.................................................\........\............\DataScope_DP.h
.................................................\........\DataScope_DP
.................................................\........\ENCODER\encoder.c
.................................................\........\.......\encoder.h
.................................................\........\ENCODER
.................................................\........\.XTI\exti.c
.................................................\........\....\exti.h
.................................................\........\EXTI
.................................................\........\IIC\IOI2C.c
.................................................\........\...\IOI2C.h
.................................................\........\IIC
.................................................\........\KEY\key.c
.................................................\........\...\key.h
.................................................\........\KEY
.................................................\........\LED\LED.C
.................................................\........\...\LED.H
.................................................\........\LED
.................................................\........\MOTOR\motor.c
.................................................\........\.....\motor.h
.................................................\........\MOTOR
.................................................\........\OLED\oled.c
.................................................\........\....\oled.h
.................................................\........\....\oledfont.h
.................................................\........\OLED
.................................................\........\TIMER\timer.c
.................................................\........\.....\timer.h
.................................................\........\TIMER
.................................................\........\USART3\usart3.c
.................................................\........\......\usart3.h
.................................................\........\USART3
...........

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