系统采用加速度传感器作为信号输入，经过模数转换后输入FPGA开发平台，实现显示在显示器上的平衡球游戏。程序已编译通过，有完整模块连接图。-System uses the accelerometer as the input signal, after analog-digital conversion and enter the FPGA development platform, to achieve the balance shown on the display the ball game

基于STM32单片机的球上平衡机器人，机器人能够平衡，涉及底层驱动、卡尔曼滤波、最优控制算法-Based on the STM32 microcontroller ball balancing robot, the robot can balance, involving low-level driver, Kalman filter, optimal control algorithm

STM32开发板上的重力感应平衡球游戏。(STM32 development board on the gravitational balance ball game.)