基于飞思卡尔MC9S12XS128处理器的自平衡车代码，有线性CCD的自创的动态自适应阀值算法，模糊PID,自创速度滤波，无线模块，LED小屏显示，等等。稳定性好。-Freescale processor-based MC9S12XS128 self-balancing vehicle code, there are linear CCD dynamic adaptive threshold algorithm homemade, fuzzy PID, homemade speed filter