Self-Balance_Vehicle Code for a self-balance two wheel vehicle's control system main controller ic: STM32F103C8T6, cortex-m3@72MHz, FLASH Size: 64KB, SRAM Size: 20KB. development IDE: Keil MDK uVision V5.24.2.0 . Toolchain: MDK-ARM Plus Version: V5.24.1 . IMU Sensor: Invensense MPU6050 Motion sensor, interface via i2c. Motor Driver Chip: TB6612FNG, a driver IC for DC motor with output transistor in LD MOS structure with low ON-resistor.