一个双轮自平衡小车的源代码 请参考有关资料，合理利用-After running across David Anderson s impressive balancing robot on the Internet, I decided it was too cool, and I had to have one like it.　So, shamelessly ripping off his great idea, I created my own version of this two-wheel balancer.　The basic form is similar to his, and other balancing robots.　However, the actual implementation is slightly different.　Wanting to keep the cost down, and not having a home machine shop, I used wood and MDF board rather than metal and polycarbonate.　Rather than using precision metal gears, I chose a cheaper belt drive.　All the electronics were homebuilt, except for the CPU board itself, although this too has a lot of custom circuitry.　All the software was written by me, except for some parts taken from the autopilot project, and the Fire Marshall Bill robot project.