The main controller runs Arduino on ESP32 (PlatformIO) and drives four CAN ESCs (DJI/RoboMaster C620 style) with closed‑loop speed control, reads a PS4 controller over Bluetooth, and exposes ...

Abstract: We derive Fourier series expressions for modeling analog closed-loop PWM class D amplifiers. Based on our derived expressions, we are able to analyze the mechanisms of several nonlinearities ...

Abstract: Synchronous pulsewidth modulation (PWM) scheme is more attractive than asynchronous one in low switching to fundamental frequency ratios, for its better harmonic spectrum. But, when a ...

This project demonstrates a minimal, high-performance, and low-power application for the Artery AT32F421 microcontroller. It is written in pure C with direct register access, avoiding vendor HAL ...