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ros2_car_lower_code		ros2_car_lower_code
README.md		README.md

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ROS2导航小车

一、电路设计

主控芯片：stm32f103rct6
两个TB6612驱动四个有刷直流电机（4路pwm 8个gpio）总：12个引脚
四个电机自带的霍尔编码器 8引脚
CAN获取达妙陀螺仪 2引脚
uart 3个 6引脚
USB 后续扩展：
I2C 屏幕 2
SPI遥控器

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