I taught a junior college embedded systems class for 3 1/2 years. My assignments for the semester were published the 2nd night of class. 30 basic assignments complete picture perfect earns a C. Do the first 3 extra credit, earns a B. All 5 extra credit earns an A and an opportunity to do some more sophisticated material. Doing the work was "self paced", but every student presented every completed assignment to me with working code on paper and in the computer. I provided all the instruction necessary to master the material and on the spot tutoring in the classroom. I had some very bright students that finished quickly and helped tutor those having more of a challenge. In the end, the Regional Occupational Program that sponsored the course recorded 91% of my students hired by DEC or IBM over the 3 1/2 year period. I stopped teaching the course when I purchased a new home 35 miles from the college and was working a new job with 7x24 on-call support requirements. I enjoyed teaching. I would do it again.
The teaching method I used was the same used at UCSD when I was a physics and chemistry tutor as an undergrad. My behavioral psychology classes used a similar pattern. For me it was a great way to blast through all of the material in the first 2 weeks of a quarter leaving more time for the other courses that were not self-paced.
Self-paced is a great way to teach. Everyone understands things in their own time. Once something “clicks” it usually paves the way for better learning down the road.
You sound like you were an awesome teacher!