写一段stm32平衡车程序

程序如下：
#include <stm32f10x.h>
int main(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
//使能外设时钟
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
//初始化GPIO
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0 | GPIO_Pin_1;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(GPIOB, &GPIO_InitStructure);
//初始化PWM
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_OCInitTypeDef TIM_OCInitStructure;
//使能外设时钟
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
//PWM负载计数器频率设置
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM4, &TIM_TimeBaseStructure);
//初始化PWM输出通道
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OC2Init(TIM4, &TIM_OCInitStructure);
TIM_OC2PreloadConfig(TIM4, TIM_OCPreload_Enable);
TIM_OC1Init(TIM4, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM4, TIM_OCPreload_Enable);
//启动计数器
TIM_Cmd(TIM4, ENABLE);
while(1)
{
//PWM输出
}
}