基于STM32的简易旋转倒立摆，使用电位器和电机编码器组成双环PID控制，倒立摆稳定效果好，抗干扰能力强。-Simple rotary inverted pendulum based STM32, potentiometer and motor encoder composition bicyclic PID control, inverted pendulum is good and stable, anti-interference ability.

在stm32F407的基础上实现旋转编码器的控制并通过串口显示数据(Based on stm32F407, the control of rotary encoder is realized and data is displayed through serial port.)

基于stm32的寻迹小车PID算法解析 开发目标1：TIM1的4个通道生成PWM，CH1—PWM1 CH2—PWM2 CH3—PWM3 CH4—PWM4 TIM8的4个通道生成PWM，CH1—PWM5 CH2—PWM6 CH3—PWM7 CH4—PWM8 开发目标2：TIM7作为定时器中断，产生固定的时间间隔，便于计算电机及落地码盘的速度（单位时间间隔脉冲增量） 开发目标3：TIM2、TIM3、TIM4、TIM5作为编码器接口，读取编码器