赛格威两轮自平衡小车的代码，为单片机程序，实现小车自动平衡-Segway self-balancing two car code program for the microcontroller, to achieve self-balancing car

基于Freescale的MCS12X128 单片机的两轮自平衡直立小车源代码-Based on Freescale' s MCS12X128 microcontroller two self-balancing upright trolley source code

清华大学的两轮自平衡直立小车手把手超级详细的教程，从原理分析，器件选型，机械设计，电路设计，程序分析，代码调试。完全0基础学会-Tsinghua university two rounds of self-balancing upright car handy super detailed tutorial, from the principle analysis, device selection, mechanical design, circuit design, program anal

本文设计了一种基于视觉导航的两轮自平衡小车系统，并实现了小车的直立行走、自主寻迹两大功能。系统用飞思卡尔十六位微处理器XS128作为核心控制单元，通过增加各种传感器并编写相应程序以完成平衡控制，速度控制，转向控制和自主寻迹四大任务。-This paper presents a visual navigation system is based on two-wheeled self-balancing the car, and realized the car to walk upright,