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LERP, NLERP and SLERP

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WHAT IS THAT AND WHY DO YOU NEED THIS? Whenever you've got 2 numbers and you want something between them, you want some kind of interpolation. And the same in quaternions - you have to quaternions that describe the same no one is 100% correct but 100% incorrect either, so you want a quaternion that is a combination of these two. So you can use the simplest idea of combining two numbers: (1)q3=αq1+(1−α)q2 this is LERP ( linear interpolation ) but since, for orientation porpuse quaternion need to have norm of 1, after this interpolation you need to normalize result: (2)q3=norm(αq1+(1−α)q2) and that is NLERP ( normalized linear interpolation ) . Now, how these methods could be interpreted, and what are the consequences in real applications?  If we imagine a circle with a radius of 1 which is going across quaternions that we want to inter...
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Hardware - how to start?

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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 ...
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