On the web, you can find plenty of embedded programming tutorials covering various aspects of microcontroller programming. Similarly, many robotics courses teach the theory of robot and controller design. However, what's often missing is how to combine these two areas to build a functional robot.
This course is designed to address this gap. We will cover embedded programming and control system topics, culminating in the construction of a self-balancing robot.
Students will master STM32 microcontroller programming, learn to implement PID and LQR control algorithms and gain expertise in DC motor control. Additionally, we will delve into sensor integration, exploring gyroscopes, accelerometers, and more.
Furthermore, we'll discuss the hardware design aspects of the robot, including motor selection, and PCB layout. By the end of the course, students will have the skills and knowledge to not only understand the theory but also apply it practically to build their balancing robot from scratch.
+ DC Motor Control: Theory and Implementation
+ PID Controller: Theory and Implementation
+ Mastering Embedded STM32 Microcontrollers programming (SPI, Timers, PWM, Interrupts, etc.)
+ Working with incremental encoders for position/velocity estimation
+ Using an IMU sensor (gyroscope, accelerometer, and magnetometer) to compute Euler angles
+ Linear Quadratic Regulator: Theory and Implementation
+ PCB Design of the Balancing Robot
The PCB Design of the robot is fully open-source and anyone can order it with the assembly and use it for other designs:
PCB Design of the Balancing Robot
All project code developments are open-source and available on GitHub:
Students can get a 30% discount on this course. Contact [email protected] with valid student proof to claim your offer!
Welcome to the course!
Slides used in this Course
Prerequisites
Hardware of the course
How to ask questions and other important remarks
Lesson 1: Motor Control Fundamentals: Part 1
Lesson 2: Motor Control Fundamentals: Part 2
Lesson 3: Unveiling the STSPIN240 Motor Driver
Lesson 4: PWM Signal generation using the Timer of the STM32 MCU
Lesson 5: PWM Testing
Lesson 6: STSPIN840 Motor Driver and Custom Hardware
Lesson 7: Motor Driver Library Integration
Lesson 1: Incremental encoders theory
Lesson 2: STM32 Timer Encoder CubeMx Configuration
Lesson 3: Timer Encoder Mode Test
Lesson 4: STM32 SWV Configuration
Lesson 5: Timer Update Interrupt
Lesson 6: Timer Overflow demo
Lesson 7: Timer Encoder Library Integration
Lesson 8: Timer Encoder Library Test
Why do we need PID?
PID Explanation
PID Library Integration
Main File edition for PID Testing
Tuning a PID Controller
Lesson 1 - Moving Average Filter Introduction
Lesson 2 - Library Integration
Lesson 3 - Testing the library
Lesson 4 - Updating the encoder library
Lesson 1 - Introduction to the RC Joystick
Lesson 2: Timers Configuration for capturing input PWM signals
Lesson 3: adding the callback function to capture interrupts
Lesson 4 - Testing the RC Joystick
Lesson 5 - Motor Control using the RC Joystick
It is one of the best courses I have taken. All the concepts are rigorously explained, and I love how the instructor steadily adds complexity to the system by explaining new topics.
I highly recommend this course if you want to learn how to apply theoretical concepts such as PID and State-Space Design in practice.
Love the PID implementation and using it to control the motor speed. Also, no doubt, the instructor covers STM32 Programming topics incredibly well
The most complete guide on the balancing robot design I could find
It is great how the teacher explains both embedded systems and control system topics. I have not encountered such kind of course before.
The course slides are incredibly helpful. The control systems and STM32 programming topics are well explained.
The instructor answers the questions on time and makes constructive comments. In addition, the course content is excellent since it covers all the topics related to build the robot from scratch.
I recently bought an stm32 board and was struggling with the WS2812b when I found this channel. It helped me a lot in understanding the whole system and how to program it properly. I also bought it to manufacture a drone, and, omg, you have a video of PID implementation. God showed me the path with you.
This is literally the best thing ever. Thank you so much for making this, you have no idea how much this helped me.
Thank you! The concepts are explained neatly, and the video is one of the best-structured ones I have watched on Kalman Filters!
You have a true gift for teaching! You’ve got such a talent for it. Keep up the amazing work!
This is great stuff - thank you and continue the good work!
Excellent lesson, brilliant teaching
Clear and complete. Wish I'd had this video when grinding through this process a few years ago. I'm not a fan of HAL as I need to stay close to the hardware. Great stuff!
My god after 2 hours of searching! Finally something useful! THANK YOU
You will have full access to the course content on all electronic devices. In addition, you will receive PDF slides that summarize the entire content of the course.
Every lesson has a discussion section where students can ask questions. I will be happy to answer your questions and give you feedback.
You can cancel the subscription at any time and there is no cancellation fee. You will have full course content until your access expires.
Since all stm32 microcontrollers are based on the same ARM architecture, they have minor differences. Also, you can mention your board in the discussions section. I will help you set up the hardware and project.
It is preferable to have basic STM32 programming skills
