Courses

Robotics now, AI agents next. Every part is real source and real runs.

Free3:45

1a · OverviewServoHub From Zero

Opening: what this course is

Free6:31

1b · OverviewServoHub From Zero

The Big Map 1: from power-on to the two control loops

Free5:48

1c · OverviewServoHub From Zero

The Big Map 2: who interrupts whom, and how the loops talk

Free with account8:28

2 · FoundationsServoHub From Zero

Running ServoHub on a Mac: SIL simulation

10:09

3 · FoundationsServoHub From Zero

The whiteboard kAxis: who may write it, and through which door

12:27

4 · FoundationsServoHub From Zero

From Simulink model to generated code

9:01

5a · FoundationsServoHub From Zero

BSP 1: one tick across the seam

11:03

5b · FoundationsServoHub From Zero

BSP 2: after the PWM switches off

9:39

5c · FoundationsServoHub From Zero

BSP 3: when the bus voltage falls

8:37

5d · FoundationsServoHub From Zero

BSP 4: asking for more than the board gives

7:09

6a · SkeletonServoHub From Zero

Four gates 1: waiting for the bus

7:32

6b · SkeletonServoHub From Zero

Four gates 2: interrupts on, then the encoder

7:59

6c · SkeletonServoHub From Zero

Four gates 3: calibrate, then open

6:32

6d · SkeletonServoHub From Zero

Four gates 4: one tick late

7:29

6e · SkeletonServoHub From Zero

Four gates 5: who interrupts whom

11:36

7a · SkeletonServoHub From Zero

Current sampling 1: when in the PWM period

12:33

7b · SkeletonServoHub From Zero

Current sampling 2: from ADC count to amps

New9:54

8a · SkeletonServoHub From Zero

Two state machines 1: rising edge

18:50

11a · SensorsServoHub From Zero

Encoders 1: how one frame becomes an angle (Tamagawa)

18:59

11b · SensorsServoHub From Zero

Encoders 2: the other three wires (MT68xx · BiSS-C · ABZ)

8:24

11c · SensorsServoHub From Zero

Encoders 3: when the data goes bad

4:08

11d · SensorsServoHub From Zero

Encoders 4: lost ABZ pulses