Design And Implementation Of Two Wheeled Self-Balancing Robot Based On RT-Thread And STM32

With the rapid development of computer technology and information technology, the development and application of embedded real-time operating system has become one of the most popular technologies. Embedded operating system takes the application as the center, software and hardware can be tailored, suitable for the strict requirements of reliability, function, volume, cost, power consumption special computer system and so on, the advantages are code is small, highly automated, fast response and so on. Embedded operating system has been widely used in communications, military, aerospace, aerospace and other high-tech and real-time and multitasking requirements in the field of higher.The two wheeled self balancing robot based on RT-Thread and STM32 is studied in this paper: The overall structure and characteristics of RT-Thread are analyzed. The communication between the tasks is studied, and the drive of the hardware device is realized, design and manufacture the hardware platform of the embedded balance car based on STM32 controller, including the main control board, power supply, motor drive, attitude sensor and wireless control module, and transplanted RT-Thread to the platform. Hardware module drivers and application tasks of the system are designed. At last, the PID algorithm of the robot is designed, and the parameters of the robot are debugged and fixed, the robot achieved stable upright and walking.The two wheel self balancing robot system based on RT-Thread operating system and STM32 the experimental results show that: real time operating system RT-Thread has good real-time performance, and it can run stably for a long time; DMP MPU5060 attitude algorithm has good dynamic characteristics, which provides high precision attitude information for the smooth running of the vehicle. In this paper, the application of the RT-Thread operating system on the two wheeled balancing trolley system is studied. The system works well and has high stability and good real-time response capability, this has certain guiding function to the RT-Thread operating system in the embedded control field.