8951单片机基本系统原理图，原理图很详细，对正在学习对单片制作的朋友很有帮助，此原理图制板以通过本人的调试。-8951 microcontroller basic system diagram, the diagram is very detailed, right now learning how to produce the single-chip helpful friends, this diagram Cricket through my debugging.

stm32的板球定位与控制(Cricket positioning and control of stm32)

运用stm32单片机控制板球平衡系统，运用PID控制以达到目标效果(The balance system of cricket ball is controlled by STM32 single chip computer, and the target effect is achieved by using PID control.)