# gimbal

**Repository Path**: coregiu/gimbal

## Basic Information

- **Project Name**: gimbal
- **Description**: Gimbal是通过stm32f103c8t6和MPU9250控制的二自由度舵机云台，并将参数通过IIC输出到OLED屏
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 1
- **Created**: 2024-06-23
- **Last Updated**: 2025-07-28

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# Gimbal

Gimbal是通过MPU-6050控制的智能稳定照明灯。


## 设计说明

#### 硬件架构设计
- STM32F103C8T6中控。
- MPU-6050陀螺仪。
- OLED 0.96寸屏。
- 二自由度舵机云台。

![](hardware/integrate_archetecture.png)

详细参照：[硬件设计说明](hardware/README.md)

#### 软件架构设计
- STM32F103C8T6作为中控，连接MPU-6050，读取陀螺仪数据，计算当前云台X/Y/Z角偏移。
- 将陀螺仪数据展示到OLED屏。
- 计算陀螺仪偏移后反馈到二自由度云台，调整云台角度，实现稳定照明。

![](software/architechture.png)

详细参照：[软件设计说明和代码](software/README.md)


## 成品效果

![](images/gimbal.png)

[视频:https://www.bilibili.com/video/BV1kMbXeJErE/](https://www.bilibili.com/video/BV1kMbXeJErE/)

# 参考致谢
[https://github.com/aixin698/stm32f1_mpu6050](https://github.com/aixin698/stm32f1_mpu6050)

[https://gitee.com/NackBT/mpu6050](https://gitee.com/NackBT/mpu6050)

[https://www.cnblogs.com/songmingze/p/17609666.html](https://www.cnblogs.com/songmingze/p/17609666.html)

[https://shequ.stmicroelectronics.cn/thread-639313-1-1.html](https://shequ.stmicroelectronics.cn/thread-639313-1-1.html)

[https://github.com/rpicopter/MotionSensorExample/tree/master](https://github.com/rpicopter/MotionSensorExample/tree/master)

[https://cloud.tencent.com/developer/article/1673718](https://cloud.tencent.com/developer/article/1673718)