1
1
2
2
3
3
4
4
D D
C C
B B
A A
VCC
1
GND
2
TDX
3
RXD
4
J4
BLUE
GND
1
Echo
2
Trig
3
VCC
4
J3
HC-SR04
DATA
1
GND
2
VCC
3
U3
HS0038
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
J6
PIN 20
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
J5
PIN 20
BIN2
BIN1
AIN1
AIN2
PWMA
PWMB
PWMB
PWMA
AIN1
AIN2
BIN1
BIN2
5V
M2A
M2B
5V
GND
M1A
M1B
5V
GND
AO1
AO2
BO1
BO2
GND
GND
5V
VM
AO1
AO2BO1
BO2
5V
GND
SCL
SDA
PA4
GND
5V
5V
GND
ECHO
TRIG
5V
GND
RX
TX
TX
RX
PA4
SCL
SDA
GND
3.3V
M1A
M1B
M2A
M2B
ECHO
TRIG
3.3V
驱动电路
MPU 6050 陀螺仪
STM32 C8T6 主控模块
3530电机
超声波模块蓝牙模块
红外模块
STM32 智能平衡小车
VER:3.0
2
1
3
Q1
SI2306
12
R0
10K
VM
VM
+
1
-
2
-
3
J1
DC-12.6
POW
1
GND
2
J2
CDS-2P 卧式
12
R1
10K
VIN
1
GND
2
VOUT
3
U1
78M05
2
1
3
Q2
SI2306
VCC
1
GND
2
SCL
3
SDA
4
XDA
5
XCL
6
ADO
7
INT
8
U5
MPU6050 Modular
VM
1
VCC
2
GND
3
AO1
4
AO2
5
BO2
6
BO1
7
GND
8
GND
9
PWMB
10
BIN2
11
BIN1
12
STBY
13
AIN1
14
AIN2
15
PWMA
16
U4
TB6612FNG
ON
GND
12
R2
10K
12
D1
Red
12
D2
Red
GND
GND
GND
VM
ON
VM
IN+
1
V-
2
IN-
3
OUT
4
VCC
5
U2 LM321
C3
104P
GND
21
D3
M7
C6
104P
12
R4
1M
12
R5
10K
12
R6
3.9K
12
R7
10K
1 2
R8
1K
5V
2 1
D0
SS34
M+
1
M-
2
GND
3
VCC
4
B
5
A
6
M2
PH-6P
M+
1
M-
2
GND
3
VCC
4
B
5
A
6
M1
PH-6P
IN1
2
OUT1
3
1
IN2
5
OUT2
4
6
S1
SW 9x9x9
+
C1
16V/330UF
+
C2
16V/330UF
+
C4
16V/330UF
PA0
PA0
PA9
PA10
UD+
UD-
5V
RES
PA10
CH340G烧录
GND
1
TXD
2
RXD
3
V3
4
UD+
5
UD-
6
XI
7
XO
8
CTS#
9
DSR#
10
RI#
11
DCD#
12
DTR#
13
RTS#
14
R232
15
VCC
16
U0
CH340G
PA9
1 2
R9
10K
C8 104P
C11
30P
C12
30P
C7
1UF
C9
104P
UD+
UD-
VCC
1
D-
2
D+
3
4
GND
5
J0
MICRO USB
5V
GND
12
D4
Yellow
21
D5
SS14
RES
12 Y1 12M
C10
104P
1 2
F1
MF-NSMF050
1 2
F0
MF-NSMF050
3.3V
5V
C15
104P
GND
1
OUT 3.3V
2
IN
3
U7
AMS1117
+
C13
10V/470UF
+
C14
10V/470UF
3.3V降压低电压保护
PB12
1
PB13
2
PB14
3
PB15
4
PA8
5
PA9
6
PA10
7
PA11
8
PA12
9
PA15
10
PB3
11
PB4
12
PB5
13
PB6
14
PB7
15
PB8
16
PB9
17
VCC 5V
18
GND
19
VCC 3.3V
20
VB
21
PC13
22
PC14
23
PC15
24
PA0
25
PA1
26
PA2
27
PA3
28
PA4
29
PA5
30
PA6
31
PA7
32
PB0
33
PB1
34
PB10
35
PB11
36
R
37
VCC 3.3V
38
GND
39
GND
40
U6
STM32F103C8T6 Modular
1 2
3 4
5 6
7 8
J7
Header2X4
5V
GND
VM
R
1
K
2
A
3
Q3
TL431
C5
104P
1 2
R3
10K
12
R10
10K
12
R11
3.3K
GND
C16
104P
VM
电压检测
VM(R6/R5+R6)
12.6v(R11/R10+R11)=3.126v
VM经M7二
极管过后压
降约0.3--0.4v
评论5