In this post, I am going to share my experience in developing a balancing bot. As I haven’t formally learned any courses about the control system, I could not guarantee the correctness of all the points. The Cascade PID Controller for the Bot PID There are too much explanation about the PID controller. So I will just share my own understanding. You must have tried to play a song with a steel ruler, watching it vibrate, become weaker and weaker and finally stop.

A brief summary for recent learning about embedded rust in internship and projects. Resources The Book: Basic rust grammar. Pay attention to Channel, Mutex, Cell, RefCell etc. in the concurrency section, which are also useful in embedded rust. Discovery: There is a new version using micro:bit when I write this blog. I was reading the STM32F3Discovery version. The Embedded Rust Book: If you are experienced in embedded systems, you can jump right in to this book.

My blog journey. Notion It has been a long time since I thought about having a blog. In 2017 I met notion, where pages could be shared as a link which is definitely OK for a blog. However connecting from China is sometimes unstable and — the appearance. Now I am using notion’s database as a cross-platform bookmark and sometimes a to-do list. Pelican In 2019, I met Github Pages and static web frameworks, and chose Pelican because I’m familiar with Python.