描述
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">注：* 为必填项</p>
<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 1、项目来源</h3>
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<p><span style="color: #95a5a6; font-size: 14px;"> <strong><span style="font-size: 18px;"> 乐天一号</span></strong>，设计的初衷是做一款综合控制板，基于目前DIY爱好者经常开发的控制类项目，预留多功能接口，从而实现一个主控满足多种项目开发，例如:<strong>平衡车</strong>（有刷电机、无刷电机、步进电机、TT电机、N20减速电机）、以及<strong>自平衡自行车</strong>、<strong>单边平衡方块</strong>、<strong>单点平衡方块</strong>、<strong>自平衡立杆</strong>、<strong>独轮平衡车</strong>、<strong>球平衡机器人</strong>、<strong>风力摆</strong>、<strong>螺旋桨PID升降系统</strong>、<strong>倒立摆</strong>等等项目。</span></p>
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<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*2、项目属性</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> 此项目完全原创，首次公开，代码、自制视频教程、PCB以及原理图完全开源，禁止个人闲鱼倒卖否则后果自负。此项目前后历时4个月，共计花费两千多元，PCB打样三十余次，也请大家多多支持开源，共同维护国内开源环境。</span></span></p>
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<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 3、开源协议</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">GPL3.0开源协议</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;"> 原理图、PCB、代码完全开源 但不允许个人制作出售以及倒卖资料</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;"> 制作过程以及原理视频后期将在我的B站账户发布 乐天科技 uid:434188817 地址 https://space.bilibili.com/434188817</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;"> 首先，感谢B站用户‘’<strong>天下行走</strong>‘’ 用户UID:<strong>386711674</strong>,详细的教程资料带我入门PID以及平衡小车项目，代码参考于此，希望大家致敬开源精神。</span><span style="color: #95a5a6; font-size: 14px;">其次，也感谢平衡小车之家（东莞市微宏智能科技）较为详细的资料，提供了一定的理论基础，如果大家经济基础比较好的话可以多支持支持，之前作比赛用品一直是在此店家购买，资料详细，售后也比较负责，不够唯一的缺点就是价格比较昂贵。</span><span style="color: #95a5a6; font-size: 14px;">最</span><span style="color: #95a5a6; font-size: 14px;">后，在这一路的制作过程中也遇见了很多很多的问题，感谢曾经为我答疑解惑的人，也因此，有了现在的成果。同时，也感谢立创EDA提供此次难能宝贵的机会，也谢谢立创EDA为开源建设所付出的一切，相信在立创的带领下，国内开源环境会越来越好，我们一起加油！</span></p>
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<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*4、硬件部分</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> 本次设计电路部分，全部由立创EDA完成，绘图使用CAD、Solidworks、渲染使用keyshot、视频剪辑使用剪映Windows版、录屏软件使用FScature、思维导图使用XMind。</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">1 支持芯片：<strong>HK32F103C8t6</strong>(CBT6)、<strong>STM32F103C8T6</strong>(CBT6)、<strong>STM32F401CCU6</strong>(QFN封装)</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">2 引脚引出：TIM1(CH1 CH2)、 TIM2 TIM3(CH1 CH2) TIM4(CH1 CH2) PA4 PA5两路ADC引出</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">3 板载<strong>ESP32-S2</strong>作为无线通讯模块，可使用低功耗蓝牙或者WIFI连接，ESP32与主控串口通讯</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">4 默认使用<strong>TB6612</strong>作为驱动芯片可通知两路编码器电机，同时使用<strong>74LV245</strong>代替光耦隔离芯片</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">5 <strong>板载MPU6050 </strong> 长宽设计为48*48mm 体积小巧</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">6 引出<strong>3路万宝至无刷电机接口</strong>（此电机内置驱动），与减速电机公用驱动信号，使用时注意端口重复</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">7<strong> ESP32集成一键下载电路</strong>，HK32使用<strong>CH340E</strong>串口芯片（此芯片不具备一键下载功能），HK32预留<strong>SW调试端口</strong></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">8 ESP32与HK32各预留一个<strong>LED状态指示灯</strong></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">9 ESP32与HK32各预留一个普通按键以及复位按键</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">10<strong> 0.96寸OLED</strong>实时显示MPU6050姿态数据与编码器数据，同时显示PID参数，电压等数据</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">11<strong> LM2596</strong>作为5V稳压元器件，<strong>XL4015</strong>作为电机专用稳压元器件，<strong>AMS1117</strong>线性稳压元器件为HK32以及ESP32供电</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">12 电源输入可使用DC005输入或者普通2P接线端子接入</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> 目前已经实物实现的功能（F1与F4均已测试完成）：</span></span></p>
<ul style="list-style-type: circle;">
<li class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8; text-align: center;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> <img src="//image.lceda.cn/pullimage/RddIM04zNElYsacHzM7GkTvW46xDtseB46TJubXp.jpeg" alt="" width="1070" height="802"><br></span></span></li>
</ul>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （1）直流减速平衡车 （包含开环控制） </span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/3JgkNCFqOKJZUbRzSNaVlHJUU5oKGy8i60bDXAnx.png" alt="" width="1082" height="523"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （2）TT电机平衡车 （包含开环控制） </span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/F188AhIzwaI0FAOicNC53tmtUGLL42cJG1A5mgM1.jpeg" alt="" width="1088" height="816"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （3）N20减速电机（包含开环控制）</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/wG1qMj0BDSu2n41UewszloJoMGPwFi1ZrhxGgFaW.jpeg" alt="" width="1094" height="820"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （4）步进电机平衡车 </span></span><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/ElymYRZKF1TlrdiZt1E2XPVJDfLBSOdC0k7oF4S9.jpeg" alt="" width="1096" height="822"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （5）万宝至无刷电机平衡车</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/AtBLAaQlTW0EyT71mXx3WsI0R7z4DgW6z4vttCvH.jpeg" alt="" width="1098" height="823"><img src="//image.lceda.cn/pullimage/yfyL19EvCCAZlmvdZCNpFaOI0y17gdBAlB2Zy2vI.jpeg" alt="" width="1098" height="823"></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （6）基于莱洛三角形的动量轮平衡系统（一阶平衡方块模型）</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;">目前已经制作实物，但是未调试代码：</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/1Sn8ZPkkAb0S4sLyzZ94613BzpEUuI7ToRDPNSiS.jpeg" alt="" width="1110" height="833"></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （1）三电机平衡立柱 </span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/iSv2M9L0mojYpWC691dcKzRLa6hsCtnNNgSrgL6V.jpeg" alt="" width="1122" height="842"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （2）点平衡平衡方块 </span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/PBg37NaC2sazqSpIUqfAvvcdTubLffeaPyIpoYk7.png" alt="" width="1117" height="593"><img src="//image.lceda.cn/pullimage/DwCnrS5VlvZAZhach639pSpdddWLfMQHc1v7XkD0.png" alt="" width="1123" height="591"></span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （3）风力摆 </span></span><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/HNn1PBvxyEMTH3n10pv8q9wAUan1W68vKSjLwZMe.jpeg" alt="" width="1132" height="849"> </span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （4）基于PID螺旋桨升降系统 </span></span><span style="color: #95a5a6;"><span style="font-size: 14px;"><img src="//image.lceda.cn/pullimage/jvrHjyOtyrVd9tzGKlNG4DATmWF5bGBxFsJKjOPY.jpeg" alt="" width="1137" height="853"> </span></span><span style="font-size: 14px; color: #95a5a6;">（5）平衡自行车</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> 由于时间关系，目前尚未做出实物，但是硬件支持项目（将来会一一完成）：</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （1）一阶倒立摆 （2）二阶倒立摆 （3）独轮平衡车</span></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6;"><span style="font-size: 14px;"> （4）球平衡机器人 （4）自平衡三棱柱</span></span></p>
<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*5、软件部分</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">开发环境：keilMDK Arduino</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">注：若您的项目涉及软件开发，请在附件上传对应的工程源码。这里可以详细说明您的软件流程图、功能模块框图、相关算法的解释或科普、源码结构、编译环境的搭建和配置、源码编译方法、程序烧录方法等。推荐图文并茂的形式向别人介绍您的想法。</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt pap-left-indent-1.6em" style="line-height: 1.8;"> </p>
<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*6、BOM清单</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/W5HzKeduiHDes3Z1b0Zu4SbfdryLzyEMmWzOp9sc.png" alt="" width="921" height="627"><img src="//image.lceda.cn/pullimage/rpzfQRkoLYPA38jEEktQywKo7IQM4bpZpxoiUFja.png" alt="" width="921" height="520"> 购买元器件时建议对照PCB进行购买。</p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p>
<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">*7、大赛LOGO验证</h3>
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<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><img src="//image.lceda.cn/pullimage/53IypYKN9uimeHOQDDEK0lVR9KmWWDotWKMUHYW1.jpeg" alt="" width="930" height="698"><img src="//image.lceda.cn/pullimage/I3R4tsiNjTe0S3xiDSJu1hfsAgVSUjx1hbx8GI6B.jpeg" alt="" width="933" height="700"><img src="//image.lceda.cn/pullimage/phMepLrx0cVHLtdk8F7aw4DhTIKD4hB4XRaBADBT.jpeg" alt="" width="933" height="700"><img src="//image.lceda.cn/pullimage/UgMDeZRmMaYmUpd566tgfzDp373BCbHSz1Pc4AEp.jpeg" alt="" width="935" height="701"></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> 纯手工焊接，还请大家多多包含。</p>
<h3 class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;">* 8、演示您的项目并录制成视频上传</h3>
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<p style="line-height: 1.8;">详细教程以及讲解会在我个人B站账号进行发布：</p>
<p style="line-height: 1.8;">B站 ：乐天科技</p>
<p style="line-height: 1.8;">uid: 434188817</p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">视频要求：请横屏拍摄，分辨率不低于1280×720，格式Mp4/Mov，单个视频大小限100M内；</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="color: #95a5a6; font-size: 14px;">视频标题：立创电赛：{项目名称}-{视频模块名称}；如立创电赛：《自动驾驶》-团队介绍。</span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"><span style="font-size: 14px;">更多详情：<a href="/posts/06c94d90c2c447dfbd9ed7339ff4a5b1" target="_blank">https://diy.szlcsc.com/posts/06c94d90c2c447dfbd9ed7339ff4a5b1</a></span></p>
<p class="paragraph text-align-type-left pap-line-1.3 pap-line-rule-auto pap-spacing-before-3pt pap-spacing-after-3pt" style="line-height: 1.8;"> </p>
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