基于stm32的IE2-512光电编码器初始化及计数功能，在智能车运动时可实现测距，测速，并通过PID进行反馈-Based IE2-512 photoelectric encoder initialization and counting functions stm32 in motion can be achieved when the smart car distance, speed, and through PID feedback

基于STM32 的PMSM 电机驱动，使用霍尔和光电编码器。(STM32 based PMSM motor drive using Holzer and photoelectric encoder.)