Lessons
Mechatronics, from electrons to robot learning.
35 lessons- 01Voltage, current, resistanceSoon
- 02Dividers, Kirchhoff and your first sensorSoon
- 03Capacitors and the RC time constantSoon
- 04Transistors as switchesSoon
- 05Op-amps and tiny signals (build an electronic scale)Soon
- 06Logic gates to a counterSoon
- 07What's inside a microcontrollerSoon
- 08GPIO, debouncing and state machinesSoon
- 09Timers and PWMSoon
- 10Sampling, ADC/DAC and aliasingSoon
- 11Talking in bits: UART, I²C, SPI and servo busesSoon
- 12Interrupts and real-time loopsSoon
- 13Encoders and pots: how a joint knows its angleSoon
- 14IMUs: accelerometers, gyros and driftSoon
- 15DC motors: torque, speed, back-EMFSoon
- 16H-bridges and motor driversSoon
- 17Steppers, hobby servos and BLDC motorsSoon
- 18Gears and transmissions: trading speed for torqueSoon
- 19Open loop vs closed loop: why feedback existsSoon
- 20PID by feel: tuning a motor-driven armSoon
- 21The pendulum: dynamics, equilibria and phase portraitsSoon
- 22Stability, frequency response and Bode plotsSoon
- 23State space and LQR: balancing a cart-poleSoon
- 24Frames and rotations: rotation matrices, axis-angle, quaternionsSoon
- 25Forward kinematics: where is the gripper?Soon
- 26Jacobians, singularities and the manipulability ellipseSoon
- 27Inverse kinematics: analytic and numericOpen
- 28Trajectories and motion planning: time scaling and RRTSoon
- 29Wheeled robots: differential drive and odometrySoon
- 30Cameras: the pinhole model and intrinsicsSoon
- 31Depth images, point clouds and ICPSoon
- 32The Kalman filter: fusing a model with noisy measurementsSoon
- 33Imitation learning: behavior cloning, compounding error, DAgger, ACT and Diffusion PolicySoon
- 34Reinforcement learning: policy gradients (REINFORCE) and why baselines matterSoon
- 35Vision-language-action models (VLAs): RT-2, π0, SmolVLASoon