| 两路电机pwm | timer4 |
|---|---|
| ch1 | PA1 |
| ch2 | PA2 |
| 编码器 | timer1 |
|---|---|
| 编码器A相 | ch0, PA15 |
| 编码器B相 | ch1, PB3 |
| 编码器 | timer2 |
|---|---|
| 编码器A相 | ch0, PC6 |
| 编码器B相 | ch1, PC7 |
| 两路电机dir | |
|---|---|
| motor1 | PC4 |
| motor2 | PC5 |
| 串口 | usart0 |
|---|---|
| TX | PA9 |
| RX | PA10 |
| mpu6050 | iic |
|---|---|
| SCL | PB9 |
| SDA | PB8 |
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