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
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:
Leverage Early Access
By accessing the course content early, leverage lower prices and start designing your robot RIGHT NOW. Before I upload half of the course content (currently DC Motor Control, Linear Encoders for position/velocity estimation, moving-average filter, and PID Implementation are available) within a month, there is a 50 % DISCOUNT.
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
