PenduloBot – STM32F3-Based Self-Balancing Robot

A firmware project for an STM32F303K8T6 microcontroller that uses an MPU6050 IMU sensor and LQR control to balance an inverted pendulum robot.

Project Overview

• MCU: STM32F303K8T6
• Sensor: MPU6050 (accelerometer + gyroscope)
• Control: Just a proportional controller for now, hopefully Linear Quadratic Regulator (LQR) control soon
• IDE: STM32CubeIDE
• HAL: STM32CubeF3 HAL drivers

Directory Structure

PenduloBot/
├── Core/                  # Application source code (main.c, etc.)
├── Drivers/               # HAL and CMSIS drivers
├── PenduloBot.ioc         # CubeMX project configuration
├── STM32F303K8TX_FLASH.ld # Linker script
└── .gitignore             # Git ignore rules