The rest of Trammel's site is worth looking at. He's constantly doing something cool and interesting. I particularly like the sections on driving analog displays...he gets asteroids running on an oscilloscope, for example. In another post, he gets the PRU's in a Beaglebone black to drive the video display on an old Mac SE. Working well enough to display X11.
Nearly 20 years ago I was following the progress of his "Autopilot" project closely, to create an autonomous rotorcraft out of a remote control helicopter base platform. Tram went on to commercialise that through Rotomotion, but he's moved on since.
