Hardware

Controller

• Power supply: 3.7V 18650 battery
• 3.3V: 1N4148 x 1
• MCU: STM32F401CCU6 Development board
• 2-axis joystick potentiometer
• Wireless: nRF24L01

Car

• Power supply: 7.4V (18650 battery x 2)
• 6V: IN4007 x 2
• MCU: STM32F401CCU6
• Motor driver: L9110 dual-channel x2
• 48:1 motor x 4

Connections

Controller

• UART:
  • PA9 => USB2TTL的RX
  • PA10 => USB2TTL的TX
• SPI: nRF24L01
  • PA5,PA6,PA7, PB13,PB14,PB15
• ADC: joystick potentiometer
  • PA0 => AXIS X
  • PA1 => AXIS Y
• VCC
• GND

nRF24L01 connections

STM32	nRF24L01
PA4 SPI1_NSS	N/A
PA5 SPI1_SCK	SCK
PA6 SPI1_MISO	MISO
PA7 SPI1_MOSI	MOSI
PB13	IRQ
PB14	CE
PB15	CSN

Car

• UART:
  • PA9,PA10
• SPI: nRF24L01
  • PA5,PA6,PA7, PB13,PB14,PB15
• PWM: 4 pin for 4 PWM outpus
  • PA0,PA2: left motors
  • PA1,PA3: right motors

nRF24L01 connections are the same as controller.

Reference

• https://learn.adafruit.com/improve-brushed-dc-motor-performance?view=all