整合另外网上出现的一些msp430单片机控制mpu6050采集加速度与角速度，并通过卡尔曼滤波-Integration others appear online msp430 microcontroller control acceleration and angular velocity mpu6050 collection, and through the Kalman filter

采集传感器后的数据往往需要进行数据融合，卡尔曼滤波是一种数据融合算法，本学习资料主要是基于C语言的卡尔曼滤波和PID控制，仅提供参考-Data acquisition sensor often need to carry out data fusion, Calman filter is a data fusion algorithm, the learning materials are mainly based on the C language of Calman filter and P

stm32f103c8t6主控两轮平衡小车程序，内含电路原理图。使用卡尔曼滤波mpu6050采集角度，使用串级pid控制小车平衡和速度。(Stm32f103c8t6 master two wheel balancing program, including circuit schematics. The Calman filter mpu6050 is used to collect the angle, and the cascade PID is used to control the ba