Course Content

1. CH0 - Balancing Robot Course Introduction

   5 lessons

   1. 1 - Welcome to the course!
   2. 2 - Slides used in this Course
   3. 3 - Prerequisites
   4. 4 - Hardware of the course
   5. 5 - How to ask questions and other important remarks

2. CH1 - DC Motor Control

   7 lessons

   1. 1 - Motor Control Fundamentals: Part 1
   2. 2 - Motor Control Fundamentals: Part 2
   3. 3 - Unveiling the STSPIN240 Motor Driver
   4. 4 - PWM Signal generation using the Timer of the STM32 MCU
   5. 5 - PWM Testing
   6. 6 - STSPIN840 Motor Driver and Custom Hardware
   7. 7 - Motor Driver Library Integration

3. CH2 - STM32 Timer Encoder Mode

   8 lessons

   1. 1 - Incremental encoders theory
   2. 2 - STM32 Timer Encoder CubeMx Configuration
   3. 3 - Timer Encoder Mode Test
   4. 4 - STM32 SWV Configuration
   5. 5 - Timer Update Interrupt
   6. 6 - Timer Overflow demo
   7. 7 - Timer Encoder Library Integration
   8. 8 - Timer Encoder Library Test

4. CH3 - Proportional-Integral-Derivative (PID) Controller

   5 lessons

   1. 1 - Why do we need PID?
   2. 2 - PID Explanation
   3. 3 - PID Library Integration
   4. 4 - Main File edition for PID Testing
   5. 5 - Tuning a PID Controller

5. Ch4 - Moving Average Filter

   4 lessons

   1. 1 - Moving Average Filter Introduction
   2. 2 - Library Integration
   3. 3 - Testing the library
   4. 4 - Updating the encoder library

6. 5 - RC Joystick Integration

   5 lessons

   1. 1 - Introduction to the RC Joystick
   2. 2 - Timers Configuration for capturing input PWM signals
   3. 3 - Adding the callback function to capture interrupts
   4. 4 - Testing the RC Joystick
   5. 5 - Motor Control using the RC Joystick

7. 6 - Tilt Angle estimation

   37 lesson

   1. Introduction to the Attitude estimation

   1. Attitude Estimation Course Excerpt CH1

      1. 2 - STM32 CubeIde Project creation
      2. 3 - Using SWV for printf function
      3. 4 - Using SWV to plot variables
      4. 5 - SPI theory
      5. 6 - SPI Configuration using STM32CubeMx
      6. 7 - SPI wirings
      7. 8 - Reading ‘Who am I’ register
      8. 9 - Sending data through SPI

   2. Attitude Estimation Course Excerpt CH2

      1. 1 - First version of the library
      2. 2 - Testing the library
      3. 3 - How to read the magnetometer?
      4. 4 - Magnetometer update 1
      5. 5 - Magnetometer update 2
      6. 6 - Testing a new version of the library
      7. 7 - DMA Theory
      8. 8 - DMA configuration

   3. Attitude Estimation Course Excerpt CH3

      1. 1 - Removing gyroscope biases
      2. 2 - Magnetometer bias explanation
      3. 3 - Timer Update Interrupts
      4. 4 - Magnetometer bias removal
      5. 5 - Normalization and scaling of IMU data
      6. 6 - ARM MATH Library Installation
      7. 7 - Library Integration
      8. 8 - A notion of frame
      9. 9 - Testing the library

   4. Attitude Estimation Course Excerpt CH4

      1. 1 - Attitude estimation, slides
      2. 2 - A notion of frame in detail
      3. 3 - 2D rotation
      4. 4 - Euler angles and Rotation Matrix
      5. 5 - Using the accelerometer to obtain pitch and Roll angles
      6. 6 - Using the magnetometer to obtain the Yaw angle
      7. 7 - Using the gyroscope to obtain the Euler angles
      8. 8 - Library Integration
      9. 9 - Complementary Filter
      10. 10 - Testing the libraries

   5. Attitude Estimation, final library integration

      1. 2 - Tilt angle estimation: Final library integration

8. 7 - Linear Quadratic Regulator

   7 lessons

   1. 1 - State-Space Design
   2. 2 - Technical Article Introduction
   3. 3 - Matlab Script
   4. 4 - Library Integration and LQR Implementation
   5. 5 - Testing
   6. 6 - Sign Explanation
   7. 7 - Rotation Problem

9. 8 - Rotational Drift and Final Joystick Integration

   2 lessons

   1. 1 - The rotational drift and how to eliminate it
   2. 2 - Controlling the robot by joystick