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Introduction The first problem when it comes to programming robots is what hardware should I use and how to set up everything? The easiest solution is to use Arduino which is pretty user-friendly and on the Internet, there are thousands of tutorials about it. However, sometimes Arduino is not powerful enough (usually is more than enough). But you need to use something with more capabilities? Or you just want to be more "professional" than using a simple Arduino. The commonly-known and willingly chosen solutions are STM32 microchips and boards. With HAL library and STM32 Cube IDE gives tons of possibilities without being too overwhelming (nevertheless, this is a significant step-up of complexity referring to the Arduino). Fortunately, there are many resources and guides on this topic - in my opinion, this is the way to start. But if you want to step deeper and don't want to use functions that you don't understand, here comes STM32 and programming on registers. This is