2011年参加CCTV亚太机器人国内赛时，设计的一款基于STM32芯片的伺服控制系统，可以用于伺服电机的速度和距离控制。
源码里面包含以下内容：
1、位置式PID和增量式PID算法；
2、STM32芯片的时钟控制、PWM波控制、CAN总线控制、串口控制等。
STM32的硬件设计没法开放，但是可以参考里面的伺服算法，配合自主设计STM32驱动器，效果可以媲美国外maxon电机官方驱动器，效果很不错哦！( ^_^ )

In 2011 asia-pacific robot domestic games, the design of a servo control system based on STM32 chip, can be used for servo motor's speed and distance control. The source code contains the following contents:
1, position type PID and incremental PID algorithm;
2, the STM32 chip clock control,PWM wave to control,CAN bus control,serial port control, etc.
STM32 hardware design can not open, but you can refer to the inside of the servo algorithm, STM32 drive, with independent design effect can be comparable to foreign official maxon motor drives, the effect is very good oh! (^_^)