• 0. Precautions
• 1.1 Expansion Board Introduction
• 1.2 STM32 Development environment
• 1.3 Button to control the buzzer to whistle
• 1.4 FreeRTOS application
• 1.5 Serial communication
• 1.6 SBUS model aircraft remote control
• 1.7 CAN bus communication
• 1.8 RGB colorful light bar
• 1.9 Timer interrupt to control PWM servo
• 1.10 Control serial port servos
• 1.11 Nine-axis attitude sensor to obtain data
• 1.12 Control the forward and reverse rotation of the motor
• 1.13 The timer captures the encoder data
• 1.14.1 Robot kinematics analysis theory
• 1.14.2 Mecanum wheel kinematics analysis
• 1.15 PID control robot movement
• 1.16 OLED character display

• 2.0 Bind PCB port devices
• 2.1 Update the firmware of the expansion board
• 2.2 Turn off the self-starting large program at startup
• 2.3 Install the Rosmaster driver library
• 2.4 Buzzer whistle
• 2.5 Control PWM servo
• 2.6 RGB colorful light bar special effects display
• 2.7 Control the forward and reverse rotation of the motor
• 2.8 Control the movement of the robot
• 2.9 Control Serial Servo

• 3.0 Bind PCB port devices
• 3.1 Package Use the tutorial
• 3.2 Package Description
• 3.3 Robot keyboard control
• 3.4 Robot state estimation
• 3.5 Robot imu calibration
• 3.6 Robot URDF Model

• 0、Bind PCB port devices
• 1、Package Use the tutorial
• 2、 Robot information release
• 3、Robot keyboard control
• 4、Robot state estimation
• 5、robot calibration
• 6、URDF model