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Balancing Robot Design Course using the STM32 MCU: DC Motor Control, IMU Integration, PID Controller, and RC Joystick integration

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Steppe School | 41 videos | Updated 2 months ago
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Build a self-balancing robot from scratch, mastering STM32 microcontroller programming and robotics topics like PID, LQR, and DC motor control. Get comprehensive guidance on embedded programming, hardware design, and control algorithms.Robotics Course Outcome+ 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+ Stepper Motor Control: Theory and Implementation+ PCB Design of the Balancing RobotSource Code and PDF materials:github.com/Steppeschool/Self-balancing-robot-cours…

2:59

Self-Balancing Robot Update & Big Updates on my channel

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6:06

Why Every Robotics Engineer Should Build a Self-Balancing Robot

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3:43

STM32 based Self-Balancing robot Design Course - Hardware Introduction

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17:24

STM32 Balancing Robot Course CH1 - 1: DC Motor Control Basics

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13:23

STM32 Balancing Robot Course CH1 - 2: DC Motor Modelling

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11:49

STM32 Balancing Robot Course CH1 - 3: DC Motor Driver

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8:58

STM32 Balancing Robot Course CH1 - 4: STM32 Pwm Generation for the motor Control

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12:30

STM32 Balancing Robot Course CH1 - 5: PWM Testing

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7:37

STM32 Balancing Robot Course CH1 - 6: STSPIN840 Motor Driver

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16:05

Balancing Robot Course CH1 - 7: Integrating the library for the motor control

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11:44

Balancing Robot Course CH2 - 1: Encoder Theory

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Balancing Robot Course CH2 - 2: STM32 Timer Encoder Configuration

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Balancing Robot Course CH2 - 3: STM32 Timer Encoder test

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Balancing Robot Course CH2 - 4: STM32 Serial Wire Viewer (SWV) Configuration for printf function

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Balancing Robot Course CH2 - 5: STM32 Timer Update Interrupt Configuration

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Balancing Robot Course CH2 - 6: Plotting a variable in real-time using STM32 SWV

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Balancing Robot Course CH2 - 7: Library Integration to work with encoders in STM32 MCUs

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5:40

Balancing Robot Course CH2 - 8: Final test of the Encoder

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10:30

Balancing Robot Course CH3 - 1: Proportional-Derivative-Integral (PID) Controller Introduction

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6:51

Balancing Robot Course CH3 - 2: PID Explanation

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7:26

Balancing Robot Course CH3 - 3: PID Implementation within the STM32 MCU and Library integration

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4:36

Balancing Robot Course CH3 - 4: Control the motor Velocity using the PID Controller

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18:09

Balancing Robot Course CH3 - 5, PID Gain Tuning

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9:44

Balancing Robot Course CH4 - 1: Moving Average Filter Introduction

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9:55

Balancing Robot Course CH4 - 2: Moving Average Filter Implementation

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5:40

Balancing Robot Course CH4 - 3: Moving Average Filter, testing the library

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7:42

Balancing Robot Course CH4 - 4: Smoth the velocity readings using the moving average filter

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4:03

Balancing Robot Course CH5 - 1: RC Joystick integration, intro

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Balancing Robot Course CH5 - 2: RC Joystick integration, Reading PWM input signal

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6:43

Balancing Robot Course CH5 - 3: Editing the main to finally integrate the RC Joystick.

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4:26

Balancing Robot Course CH5 - 4: RC Joystick integration, test using live expressions in STM32CubeIde

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3:53

Balancing Robot Course CH5 - 5: Controlling the motor velocity using the RC Joystick

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11:39

Balancing Robot Course CH7 - 1: Linear Quadratic Regualator, Introduction

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16:23

Balancing Robot Course CH7 - 2: Technical Article Introduction

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2:12

Balancing Robot Course CH7 - 3: Matlab script for the implementing the LQR

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15:27

Balancing Robot Course CH7 - 4: Implementing the LQR within the STM32 MCU

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Balancing Robot Course CH7 - 5: Final Balancing Robot test

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5:08

Balancing Robot Course CH7 - 6: Explaining the signs of the LQR gains

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1:00

Balancing Robot Course CH7 - 7: Rotation Drift Problem

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8:08

Balancing Robot Course CH8- 1: Eliminating the rotation drift

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8:01

Balancing Robot Course CH8 - 2: Integrating the RC Joystick to control the robot movement

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