Hi

 Welcome to my blog!

I am a student of Automatic and Robotic and this blog is a kind of diary for my projects. I'm writing mainly for myself to save some thoughts and to have an opportunity to go back to them. But if you find out something helpful that's great! I'm more than happy that I could interest you or explain something.


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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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USB with STM32

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  USB - basic description: USB is probably the most common interface nowadays. Possibly due to the versatile protocol which can handle many different peripherals: flash drives, printers or keyboards... Also, it is self-configuring (no data format or speed needs to be selected), reliable (no data lost during transfer), and pretty fast. Since this protocol is so versatile software is not simple and it's not trivial to implement it on your own. Fortunately, this is also a reason why there are ready-to-go libraries for this protocol which takes care of all complicated and specific aspects of implementation. In this post, I want to show how to use the STM library for USB and how to modify it to use more than just one class - create a simple "composite" device. How to get STM32 Library: For USB there is always one host and one or more devices connected to it. STM can be programmed as both but for now, we will discuss only the device option. Because the USB standar
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Filters - Theory

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 Filters  In this post, I want to present the theory needed for digital filter design. Firstly, a quick description of mainly used filters in the continuous domain - I want to give you some intuition in interpreting the transform functions. Next, I will present practical discretization from the '$s$' domain into the '$z$' (discrete time). Finally, a difference equation will be provided which can be directly programmed on any microprocessor. In a future post, I will show the possible implementation of described filters. In essence, the filter should block undesirable frequencies and let others pass through without distortion. For our applications, we can divide filters into 4 main categories: Low-pass filters High-pass filters Band-pass filters Notch filters Low-pass filter As the name suggests this filter allows low frequencies to pass and suppress high ones. The simplest LPF is a system with one pole: \begin{gather}H(s)=\frac{\omega_{0}}{s+\omega_{0}}\end{gather} A typ
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