Nacho Mellado
@uavster.bsky.social
Building your companion robot in public:
https://www.ignaciomellado.es/hf1
Formerly Google X, Apple, http://everydayrobots.com, PickNikRobotics, demoscene.
https://www.ignaciomellado.es/hf1
Formerly Google X, Apple, http://everydayrobots.com, PickNikRobotics, demoscene.
Pinned
Nacho Mellado
@uavster.bsky.social
· Aug 11
HF1 is no longer naked!
Introducing the robot's new look, designed for serial production.
Introducing the robot's new look, designed for serial production.
This newsletter could have been sent last week, right?
It is from 10 years ago.
It is from 10 years ago.
February 9, 2026 at 12:53 PM
This newsletter could have been sent last week, right?
It is from 10 years ago.
It is from 10 years ago.
Oh, no. Another robotics company that could not secure funding. I really liked their vision of approachable humanoids.
February 5, 2026 at 10:27 PM
Oh, no. Another robotics company that could not secure funding. I really liked their vision of approachable humanoids.
Some device tree black magic, I2S sorcery and I2C spells later and we got audio output!
(audio is a tribute to HF1's favorite cousins)
(audio is a tribute to HF1's favorite cousins)
February 4, 2026 at 2:19 PM
Some device tree black magic, I2S sorcery and I2C spells later and we got audio output!
(audio is a tribute to HF1's favorite cousins)
(audio is a tribute to HF1's favorite cousins)
Happy Groundhog Day!
February 2, 2026 at 9:44 AM
Happy Groundhog Day!
So, I was able to make the Jetson talk to the audio chip via I2C, configure the PLL and clocks of the I2S interface, power the mic and read back audio (still not reaching the Jetson).
Here's the Jetson saying "hey, chip, gimme register 6" and the chip replying "Mkey, it's 0".
Here's the Jetson saying "hey, chip, gimme register 6" and the chip replying "Mkey, it's 0".
January 30, 2026 at 11:58 AM
So, I was able to make the Jetson talk to the audio chip via I2C, configure the PLL and clocks of the I2S interface, power the mic and read back audio (still not reaching the Jetson).
Here's the Jetson saying "hey, chip, gimme register 6" and the chip replying "Mkey, it's 0".
Here's the Jetson saying "hey, chip, gimme register 6" and the chip replying "Mkey, it's 0".
This is going to sound weird. I used to have a European coworker in the Bay Area who was once looking for a place to rent. He ended up at a condo called Villa Granada. I had also been looking, so I had visited the place.
January 30, 2026 at 10:18 AM
This is going to sound weird. I used to have a European coworker in the Bay Area who was once looking for a place to rent. He ended up at a condo called Villa Granada. I had also been looking, so I had visited the place.
Today it's audio day.
My latest robot PCB has an audio codec. Let's see if I can make the Jetson interface with it over I2S+I2C.
It involves tinkering with device trees, so I don't expect it to be easy, but I'm so excited for hearing HF1 for the first time!
My latest robot PCB has an audio codec. Let's see if I can make the Jetson interface with it over I2S+I2C.
It involves tinkering with device trees, so I don't expect it to be easy, but I'm so excited for hearing HF1 for the first time!
January 29, 2026 at 3:06 PM
Today it's audio day.
My latest robot PCB has an audio codec. Let's see if I can make the Jetson interface with it over I2S+I2C.
It involves tinkering with device trees, so I don't expect it to be easy, but I'm so excited for hearing HF1 for the first time!
My latest robot PCB has an audio codec. Let's see if I can make the Jetson interface with it over I2S+I2C.
It involves tinkering with device trees, so I don't expect it to be easy, but I'm so excited for hearing HF1 for the first time!
The new motor drivers and servo feedback in the latest PCB worked like a charm!
After a long battle with regulator overheating and ringing, it's nice to have a small victory.
The redesigned regulator coming in the next batch of PCB prototypes will hopefully behave, too.
After a long battle with regulator overheating and ringing, it's nice to have a small victory.
The redesigned regulator coming in the next batch of PCB prototypes will hopefully behave, too.
January 29, 2026 at 9:53 AM
The new motor drivers and servo feedback in the latest PCB worked like a charm!
After a long battle with regulator overheating and ringing, it's nice to have a small victory.
The redesigned regulator coming in the next batch of PCB prototypes will hopefully behave, too.
After a long battle with regulator overheating and ringing, it's nice to have a small victory.
The redesigned regulator coming in the next batch of PCB prototypes will hopefully behave, too.
We ain’t Boston Dynamics, but we also got snow.
January 28, 2026 at 11:25 AM
We ain’t Boston Dynamics, but we also got snow.
The simulation engine must be under some serious load today.
January 23, 2026 at 5:19 PM
The simulation engine must be under some serious load today.
May your soldering sponge be always wet.
January 23, 2026 at 9:40 AM
May your soldering sponge be always wet.
Image generation models are not a replacement for artists, but an additional level of abstraction. Artists still drive the intent, meaning and taste.
Same for coding assistants and software developers.
Same for coding assistants and software developers.
With all the A.I. generated imagery out there, I would like to share some of the thoughts that go into a painting created by a human being...
January 21, 2026 at 11:40 AM
Image generation models are not a replacement for artists, but an additional level of abstraction. Artists still drive the intent, meaning and taste.
Same for coding assistants and software developers.
Same for coding assistants and software developers.
I've been making test points reachable by putting them at the edge of the board. Not a good idea if you are as careless as me.
One of them came from a thick trace capable of high current, but the trace to the test point was pretty thin.
I accidentally 🧵
One of them came from a thick trace capable of high current, but the trace to the test point was pretty thin.
I accidentally 🧵
January 19, 2026 at 11:00 PM
I've been making test points reachable by putting them at the edge of the board. Not a good idea if you are as careless as me.
One of them came from a thick trace capable of high current, but the trace to the test point was pretty thin.
I accidentally 🧵
One of them came from a thick trace capable of high current, but the trace to the test point was pretty thin.
I accidentally 🧵
Does anyone else find increasingly difficult to focus on work with everything that’s going on in the world?
January 16, 2026 at 9:23 AM
Does anyone else find increasingly difficult to focus on work with everything that’s going on in the world?
You have designed entire systems while others were talking to you about the weather.
January 12, 2026 at 8:47 AM
You have designed entire systems while others were talking to you about the weather.
When I first watched Hackers in the late 90s, I found it laughable.
But rewatching it made me realize what I didn’t appreciate enough back then.
The internet was self-expression and intellectual discovery, not the gamified doom scroll subscription prison we’re in today.
But rewatching it made me realize what I didn’t appreciate enough back then.
The internet was self-expression and intellectual discovery, not the gamified doom scroll subscription prison we’re in today.
January 11, 2026 at 11:47 PM
When I first watched Hackers in the late 90s, I found it laughable.
But rewatching it made me realize what I didn’t appreciate enough back then.
The internet was self-expression and intellectual discovery, not the gamified doom scroll subscription prison we’re in today.
But rewatching it made me realize what I didn’t appreciate enough back then.
The internet was self-expression and intellectual discovery, not the gamified doom scroll subscription prison we’re in today.
My 11yo and I have been watching @veritasium’s episode on non-humanoid robots.
Oh, the fascination in his eyes seeing the scientists’ work.
“Who are these people and how did they get there?”
Oh, the fascination in his eyes seeing the scientists’ work.
“Who are these people and how did they get there?”
January 11, 2026 at 9:02 PM
My 11yo and I have been watching @veritasium’s episode on non-humanoid robots.
Oh, the fascination in his eyes seeing the scientists’ work.
“Who are these people and how did they get there?”
Oh, the fascination in his eyes seeing the scientists’ work.
“Who are these people and how did they get there?”
Somebody find that DeLorean soon because we’re totally in Biff’s timeline.
January 10, 2026 at 11:56 AM
Somebody find that DeLorean soon because we’re totally in Biff’s timeline.
Every new PCB component increases production complexity and cost, failure modes, supplier overhead and potential supply disruptions.
Design for simplicity. Justify complexity.
The circuit that never lets you down is the one that doesn’t exist.
Design for simplicity. Justify complexity.
The circuit that never lets you down is the one that doesn’t exist.
January 10, 2026 at 1:15 AM
Every new PCB component increases production complexity and cost, failure modes, supplier overhead and potential supply disruptions.
Design for simplicity. Justify complexity.
The circuit that never lets you down is the one that doesn’t exist.
Design for simplicity. Justify complexity.
The circuit that never lets you down is the one that doesn’t exist.
Here's the trick (^ is XOR):
a=a^b
b=b^a
a=a^b
XOR's properties enabling trick:
a^0=a
a^a=0
a^b=b^a
a^(b^c)=(a^b)^c
Proof:
//in
a0=a
b0=b
//trick
a1=a0^b0
b1=b0^a1=b0^(a0^b0)=(a0^b0)^b0=a0^(b0^b0)=a0^0=a0
a2=a1^b1=(a0^b0)^a0=(b0^a0)^a0=b0^(a0^a0)=b0^0=b0
//out
a=a2=b0
b=b1=a0
a=a^b
b=b^a
a=a^b
XOR's properties enabling trick:
a^0=a
a^a=0
a^b=b^a
a^(b^c)=(a^b)^c
Proof:
//in
a0=a
b0=b
//trick
a1=a0^b0
b1=b0^a1=b0^(a0^b0)=(a0^b0)^b0=a0^(b0^b0)=a0^0=a0
a2=a1^b1=(a0^b0)^a0=(b0^a0)^a0=b0^(a0^a0)=b0^0=b0
//out
a=a2=b0
b=b1=a0
January 8, 2026 at 12:50 PM
Here's the trick (^ is XOR):
a=a^b
b=b^a
a=a^b
XOR's properties enabling trick:
a^0=a
a^a=0
a^b=b^a
a^(b^c)=(a^b)^c
Proof:
//in
a0=a
b0=b
//trick
a1=a0^b0
b1=b0^a1=b0^(a0^b0)=(a0^b0)^b0=a0^(b0^b0)=a0^0=a0
a2=a1^b1=(a0^b0)^a0=(b0^a0)^a0=b0^(a0^a0)=b0^0=b0
//out
a=a2=b0
b=b1=a0
a=a^b
b=b^a
a=a^b
XOR's properties enabling trick:
a^0=a
a^a=0
a^b=b^a
a^(b^c)=(a^b)^c
Proof:
//in
a0=a
b0=b
//trick
a1=a0^b0
b1=b0^a1=b0^(a0^b0)=(a0^b0)^b0=a0^(b0^b0)=a0^0=a0
a2=a1^b1=(a0^b0)^a0=(b0^a0)^a0=b0^(a0^a0)=b0^0=b0
//out
a=a2=b0
b=b1=a0
Stack Underflow
This chart shows the total number of Stack Overflow questions asked each month. As you can see, AI summaries in Google and AI coding tools have nearly killed the site. It is only a matter of time before the site shuts down completely. The golden age of independent web is over.
![This result shows s the total number of Stack Overflow questions asked each month. THE SQL query is https://data.stackexchange.com/stackoverflow/query/1926661#graph:
```
SELECT
DATEFROMPARTS(YEAR(CreationDate), MONTH(CreationDate), 1) AS [Month],
COUNT(*) AS [Questions]
FROM Posts
WHERE
PostTypeId = 1
GROUP BY
DATEFROMPARTS(YEAR(CreationDate), MONTH(CreationDate), 1)
ORDER BY
[Month] ASC
```](https://cdn.bsky.app/img/feed_thumbnail/plain/did:plc:c2swjkkci7dljjizpgye45kv/bafkreifmonjn4eplva4uyfudo5bwc3u7axoxkuu6f3i44264xp64p3yysa@jpeg)
January 6, 2026 at 11:31 AM
Stack Underflow
You know I’m not a fan of the humanoid form stealing the spotlight, but I love how Boston Dynamics gave it a twist (literally) and redefined its kinematics.
F$%ck joint constraints!
F$%ck joint constraints!
Boston Dynamics debuted its next-generation Atlas humanoid robot at CES in Las Vegas on January 5.
January 6, 2026 at 11:24 AM
You know I’m not a fan of the humanoid form stealing the spotlight, but I love how Boston Dynamics gave it a twist (literally) and redefined its kinematics.
F$%ck joint constraints!
F$%ck joint constraints!
A circuit breaker tripped during our vacation and now my tomatoes have more hair than me.
January 5, 2026 at 10:27 PM
A circuit breaker tripped during our vacation and now my tomatoes have more hair than me.
Hello everybody out there using Amazon’s Astro,
I’m doing a (hackable) home robot (just a hobby, won’t be big and professional like Astro). This has been brewing since april and is starting to get ready. I'd like any feedback on things people like/dislike in Astro…
I’m doing a (hackable) home robot (just a hobby, won’t be big and professional like Astro). This has been brewing since april and is starting to get ready. I'd like any feedback on things people like/dislike in Astro…
January 4, 2026 at 7:56 PM
Hello everybody out there using Amazon’s Astro,
I’m doing a (hackable) home robot (just a hobby, won’t be big and professional like Astro). This has been brewing since april and is starting to get ready. I'd like any feedback on things people like/dislike in Astro…
I’m doing a (hackable) home robot (just a hobby, won’t be big and professional like Astro). This has been brewing since april and is starting to get ready. I'd like any feedback on things people like/dislike in Astro…