平衡车的原理都懂了，但那时还没搞过PID调节和数据滤波，所以具体怎么写程序并不知道。至于平衡车的程序资料也非常少(The principle of balancing vehicle is understood, but PID adjustment and data filtering have not been done at that time, so how to write program is not known. There are very little programs for