两轮自平衡小车。可实现平稳前进，arduino单片机实现-Two self-balanced car. Can achieve a smooth forward, arduino MCU

使用arduino单片机实现小车的自动平衡控制，包括小车姿态获取---卡尔曼滤波，和PID参数整定。解压后整个文件夹放到arduino的libraries文件夹里面。只需打开并烧写Self_balancing.ino这个代码例程。(Using Arduino microcontroller to achieve automatic balancing control of the car, including car attitude acquisition --- Calman filter,

可保持小车外界有随机干扰的情况下仍然保持站立、平衡(Keeping the car still standing and balancing under the circumstances of random disturbance)