该代码为自平衡小车代码校车使用的是430做处理器，MPU6050,1:90大扭矩电机， L298驱动，2576稳压，用的平衡互补滤波和PID(The code for self balancing car code, the school bus is used as 430 processor, MPU6050,1:90 large torque motor, L298 drive, 2576 voltage regulator, with the balance of complementary filtering and PID)