April 26, 2025

Controlling a Dynamixel AX-12A with a Raspberry Pi and ROS 2

Got my hands on 5 Dynamixel AX-12A servos from work. I’m planning to make a little robot will them (well planning and finishing are different things). I want to get...

January 26, 2025

RP2040 Devboard

Wow another devboard. I wanted to start playing around with an RP2040 in a newer robotics controller. This devboard is to prove out whether I can design a working PCB...

January 25, 2025

ROS 2 Integration Tests

Quick example on how to setup integration tests in ROS 2. Specifically running tests on a life cycle node. The information is generally available online in pieces, but I didn’t...

December 26, 2024

2024 Retrospective

Well another year has past. As is tradition (well since 2022). I like to do a retrospective blog post on how the year went. In my 2023 retrospective I...

December 07, 2024

STM32H5 WS2812 Example

Example application of using the STM32H5 to control WS2812 LEDs using GPDMA and PWM. What is WS2812? A WS2812 is an addressable RGB LED (sometimes referred to as a...