Writing

Working it out in writing

When a project needs a concept I don't know well, I write it up to check I actually understand it. Some of these will be wrong in places, and I update them when I find out.

2 entries

Robotics maths

The maths behind moving robots, worked through by hand before trusting a library to do it.

01 2D and 3D rotation matrices Building rotation matrices from the ground up, with every multiplication worked by hand, ending at the orientation matrix the balancing robot gives its IMU.

Articles

General writing, newest first.

14 Sept 2026 Why the devlog became updates Writing a long devlog entry for every finding across five projects wasn't sustainable, so the effort moved to articles and the devlog became short bullet summaries.