In the previous post, I wrote about testing requirements, which led us to create Modular sensor platform. I told you about ASP.NET Core technology, which can simplify developing web API server application. You could try developing your own API server. Today I am going to introduce you USB to CAN converter and universal board for connecting sensors.

USB to CAN converter is the STM32F4 powered device for translating USB communication to CAN bus and vice versa. The converted is USB HID class based device. The HID class was chosen because there is guaranteed delay of packets, which is an important parameter in some cases of measuring a response time of testing devices. It is connected to the web server by USB micro and there are two RJ12 connectors on the board. RJ12 connectors are used for connecting sensors or actors (see image below).

Sensors and actors

Sensors and actors can be connected to USB converter via cable with the RJ12 connector through which it is powered and it can receive and sent messages from web API server. The board on CAN bus have to be addressable by a unique address. So each device has its own encoder. Using encoder on the board, you can set the address of the device (see image below – the black box with orange shaft). The encoder is 4 bit, so you can add up to 16 different devices.

The universal version of the board has 3 connectors (the blue ones). These connectors you can use for connecting different kinds of SPI or I2C sensors. The following sensors are in process of development:

  • RGB sensor – For sensing status of LED of a tested device
  • Paper sensor – Detection of paper in printer

These sensors will be introduced in upcoming parts of this article series. The advantage of the universal board is that it simplifies developing new sensors. You do not have to develop custom PCB (Printed Circuit Board), but you can use this board, connect sensor and write firmware specific to the sensor

The firmware is written in pure C using STM32 HAL library (Hardware abstraction layer). The initialization code was generated by STM32CubeMX, which is a graphical software configuration tool that allows configuring MCU by graphical wizards. The tool allows configuration of pin multiplexing, clock, and other peripherals configuration. Then you can generate C project for any common embedded IDE.

Both PCBs were designed in CircuitMaker by Altium, which is free also for commercial use. There is no license to worry about. The disadvantage is that you have only two private projects, others must be public (see


The article describes the hardware part of the Modular sensor platform. The USB to CAN converter and the universal sensor board for developing custom devices compatible with the platform. The concrete developed sensor and actors will be in next parts of the Modular sensor platform series.  This post also describes tools and technologies that were used for developing converter and sensor board. If you are interested in developing embedded systems, you should definitely try STM32CubeMX and CircuitMaker.

When will the robotic revolution come and what will be its impact? What does Industry 4.0 mean and how will it change the world around us?

Come, listen and discuss this with me during a talk titled “Robotic revolution: How robots help during development and testing SW & HW” during the Žijeme IT event on the 16th of February 2018.

The event will take place at the Brno University of Technology, find out more at

I will discuss how Y Soft’s Research and Development department uses robots for development and testing of SW and why we have started to use them. We implement tons of automated tests which are executed as continuous integrations. But how do we proceed when we need to test closed ecosystems which are hard to control remotely or needs to be replaced by simulators? Is robotic testing better than manual testing? What are the advantages and disadvantages of a robotic approach? And why we have ultimately decided not to stay with manual testing? Lastly, what about using simulators, can they provide trustworthy test results?

I will share with you how Y Soft started its robotic development and how this is connected with students. Are students changing the world?

For those, who has attended Robot Framework workshop on Test Crunch conference you can find more details about environment setup, source codes and books below.

Installing Robot Framework on your computer

  1. Download and install Python 2.7 (32/64 bit based on your OS) from
  2. Add Python location into Path environment variable (e.g. c:\Python27\;c:\Python27\Scripts\)
  3. Download and install wxPython 2.8 with unicode support (32/64 bit based on Python version) from
  4. Install pip (package manager) by  opening command line and running command python
  5. Open command line and run following commands to install Robot framework and additional libraries
    pip install robotframework
    pip install robotframework-ride
    pip install robotframework-selenium2library
  6. Start RIDE by running in command line

Workshop source code

Books and other study materials

Recording from workshop will be available soon.

Stay tuned and enjoy Robot Framework.

The process of forming the team, it’s stages, team roles which should be represented in a team and many interesting issues about team coordination, cooperation, communication and productivity. All of that was discussed during agile community meeting, which Y Soft was hosting last week in Brno office. In this text I want to highlight most interesting issues we have discussed and found ways hoe to handle it.



Short introduction by Michal Vallo was about Tuckman’s stages of group development as life-cycle of team construction and Belbin Team Roles as guide to what characters should be included in each team. Later, each participant propose one topic to be discussed, then everybody vote for the one which he likes. I will present three of them which were discussed the most.


Need of Junior/Senior positions

Team consists of different roles and people. One of way how to differentiate team members is usage of Junior and Senior labels. There were many interesting inputs to this topic.

One of the opinion reflected in real company policy was to remove these formal roles. Reasons to do such a thing are more. There is no race in a team to reach senior position. If starting new project and forming new teams, you will prevent situation with low interest in junior positions in a team. But you still have to differ skills and knowledge, reward courage and motivation. It’s should by done by assigning responsibilities, competences, work tasks with different difficulty. And do not forget about money, company benefits and other materialistic stuff.

On the other hand, especially bigger companies has defined career paths, so they need to differ positions on formal level. It also works if these career paths are well defined and they are not limited by project budget or head count calculated on HR. Because there was also one case discussed, where team is limited by budget and even they had chance to hire great senior guy, they couldn’t because of restrictions on number of senior positions.

Low performance of one member in a team

An interesting discussion was about dealing with low performance of one team member, who is lowering teams overall performance. Well working team should identify such a member itself without intervention from higher positions. Move to another team, relocate to another department or fire him are another “simple solutions”.

But what if this member is e.g. external contractor and you cannot get rid of him like this? Again more working solutions were discussed, but think about two types of people. Ones who will get better if you will push them and ones who are too lazy or incompetent for this work type and load. For the perspective ones, motivation is the key. If direct motivation is not successful, try to do it other way. Make them work in pairs with team members which are more productive, make them responsible for something and force them to present work results to the team e.g. on daily stand-ups. They will be shamed maybe, but it should show the difference. For the lazy ones, try to assign them work tasks which are easier, maybe not popular, or just ones that are the cheapest in case they will screw it.

But do not forget. That it’s not only about performance. Team member with lower performance can have e.g. greater social influence for the team, so it’s affecting the team performance also.

Team motivation

How to motivate team and its members to perform better? In the beginning I want to explain difference between motivation and stimulation, because both approaches were discussed. Motivation refers to the will to act, work, create, etc. On the other hand, stimulation deals with encouraging on an initial effort or in supporting an already existing action. Most of discussed motivation practices were:

  • Allowing self-development of team members, based on their will and needs of the team
  • Giving challenging and interesting task to team members
  • Take inputs from team members seriously, try to give valuable feedback
  • Trust the team and let them make decisions, give responsibilities to each team member

If there are some activities in the team like supporting the product or bugfixing, which are not as popular as e.g. new development, distribute these type of tasks over the whole team by rotating engineering role every iteration or distribute it evenly across all team members.


It looked like everybody has took something from this meeting, and I am looking forward to another interesting topics to be discussed in further community meetings.