From 0a459dd35315eff9f8d32937811fc39f45d8d89a Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Tue, 7 Apr 2026 10:25:44 +0300 Subject: [PATCH 1/9] Added index.md file. Signed-off-by: Andrei Rusanescu --- .../project/2026/andrei.rusanescu/index.md | 77 +++++++++++++++++++ 1 file changed, 77 insertions(+) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md new file mode 100644 index 00000000000..02d0c8740b3 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -0,0 +1,77 @@ +# CargoBot +Autonomous cargo robot with Bluetooth telemetry + +:::info + +**Author**: Andrei Rusanescu \ +**GitHub Project Link**: link_to_github + +::: + + + +## Description + +CargoBot is an autonomous 4 wheeled robot that carries cargo and navigates surfaces with imperfections (bumps, ramps, carpet). It uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs and sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. + +The central idea of the project is measuring and visualizing the impact of cargo load on motor performance: when the robot carries something heavy, the PID controller automatically increases the PWM duty cycle to maintain a constant speed. This compensation is observable live on the robot's OLED, on the PC dashboard, and through 3 LEDs (green/yellow/red) that visually indicate the effort level. + +## Motivation +I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It clearly demonstrates a measurable technical behavior, which is the difference in motor effort with and without cargo. The wireless telemetry component aligns with my personal interests in networking and systems. The software runs on Rust with Embassy-rs. + +## Architecture + +Add here the schematics with the architecture of your project. Make sure to include: + - what are the main components (architecture components, not hardware components) + - how they connect with each other + +## Log + + + +### Week 5 - 11 May + +### Week 12 - 18 May + +### Week 19 - 25 May + +## Hardware + +Detail in a few words the hardware used. + +### Schematics + +Place your KiCAD or similar schematics here in SVG format. + +### Bill of Materials + + + +| Device | Usage | Price | +|--------|--------|-------| +| [Raspberry Pi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/raspberry-pi-pico.html) | The microcontroller | [35 RON](https://www.optimusdigital.ro/en/raspberry-pi-boards/12394-raspberry-pi-pico-w.html) | + + +## Software + +| Library | Description | Usage | +|---------|-------------|-------| +| [st7789](https://github.com/almindor/st7789) | Display driver for ST7789 | Used for the display for the Pico Explorer Base | +| [embedded-graphics](https://github.com/embedded-graphics/embedded-graphics) | 2D graphics library | Used for drawing to the display | + +## Links + + + +1. [link](https://example.com) +2. [link](https://example3.com) +... + From 471a95a53bfe3b47695d772ad8927400ee2215ba Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Mon, 27 Apr 2026 20:15:49 +0300 Subject: [PATCH 2/9] Added documentation Signed-off-by: Andrei Rusanescu --- .../project/2026/andrei.rusanescu/index.md | 198 +++++++++++++++--- 1 file changed, 166 insertions(+), 32 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md index 02d0c8740b3..5bc9330a139 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -1,10 +1,10 @@ # CargoBot -Autonomous cargo robot with Bluetooth telemetry +Remote-controlled cargo robot with Bluetooth telemetry :::info **Author**: Andrei Rusanescu \ -**GitHub Project Link**: link_to_github +**GitHub Project Link**: [link_to_github](https://github.com/UPB-PMRust-Students/acs-project-2026-andreirusanescu) ::: @@ -12,66 +12,200 @@ Autonomous cargo robot with Bluetooth telemetry ## Description -CargoBot is an autonomous 4 wheeled robot that carries cargo and navigates surfaces with imperfections (bumps, ramps, carpet). It uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs and sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. +CargoBot is a remote-controlled four-wheeled robot that carries cargo and navigates surfaces with imperfections (bumps, ramps, carpet). It is controlled from a laptop keyboard via Bluetooth and uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs. It sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. The central idea of the project is measuring and visualizing the impact of cargo load on motor performance: when the robot carries something heavy, the PID controller automatically increases the PWM duty cycle to maintain a constant speed. This compensation is observable live on the robot's OLED, on the PC dashboard, and through 3 LEDs (green/yellow/red) that visually indicate the effort level. ## Motivation -I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It clearly demonstrates a measurable technical behavior, which is the difference in motor effort with and without cargo. The wireless telemetry component aligns with my personal interests in networking and systems. The software runs on Rust with Embassy-rs. -## Architecture +I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It clearly demonstrates a measurable technical behavior - the difference in motor effort with and without cargo. The wireless telemetry component aligns with my personal interests in networking and systems. The software runs on Rust with Embassy-rs, a modern async embedded framework with cooperative concurrency. -Add here the schematics with the architecture of your project. Make sure to include: - - what are the main components (architecture components, not hardware components) - - how they connect with each other +## Architecture + +``` + ┌─────────────────────────┐ + │ Laptop │ + │ Dashboard + Keyboard │ + └────────────┬────────────┘ + │ Bluetooth SPP + ┌────────────▼────────────┐ + │ HC-06 │ + │ Bluetooth Module │ + └────────────┬────────────┘ + │ UART (TX/RX) + ┌───────────────────────┐ ┌───────────▼─────────────────────────────────┐ + │ 18650 2S Battery │ │ │ + │ 7.4V / 6800mAh │ │ STM32 Nucleo-U545RE-Q │ + └───────────┬───────────┘ │ ARM Cortex-M33 @ 160MHz │ + │ 7.4V │ │ + ┌───────────▼────────────┐ 5V reg │ ┌────────────────────────────────────────┐ │ + │ L298N ├───────► │ Embassy-rs Async Tasks: │ │ + │ Dual H-Bridge │ │ │ sensor_task (20 Hz) │ │ + └──────┬──────┬──────────┘ │ │ motor_task (50 Hz) │ │ + │ │◄──────────────────┤ │ navigation_task (10 Hz) │ │ + PWM │ │ PWM + GPIO │ │ telemetry_task (5 Hz) │ │ + (L/R) │ │ (IN1–IN4, speed) │ │ display_task (4 Hz) │ │ + │ │ │ └────────────────────────────────────────┘ │ + ┌──────┴──────┴───────┐ │ │ + │ DC Motors │ │ ┌────────────────────────────────────────┐ │ + │ Left ×2│ Right ×2 │ │ │ Interfaces: │ │ + │ 3–6V, skid steer. │ │ │ PWM -> L298N (motor speed 0–100%) │ │ + └─────────────────────┘ │ │ Passive Buzzer (horn/melody) │ │ + │ │ I2C -> MPU-6500 (0x68) │ │ + │ │ SSD1306 OLED (0x3C) │ │ + │ │ UART -> HC-06 (cmds in, JSON out) │ │ + │ │ GPIO -> HC-SR04 ×2 (trigger+echo) │ │ + │ │ LM393 ×2 (interrupt pulses) │ │ + │ │ L298N IN1–IN4 (direction) │ │ + │ │ LEDs R/Y/G (effort level) │ │ + │ └────────────────────────────────────────┘ │ + │ │ + └────┬──────────────┬──────────────┬──────────┘ + │ │ │ + I2C (shared) GPIO GPIO interrupt + │ (trig/echo) (pulses) + ┌──────┴──────┐ │ │ + ┌──▼───────┐ │ ┌────▼──────┐ ┌───▼───────────┐ + │ MPU-6500 │ │ │ HC-SR04 │ │ LM393 │ + │ IMU │ │ │ Front │ │ Encoders │ + │ (0x68) │ │ ├───────────┤ │ Left + Right │ + │accel+gyro│ │ │ HC-SR04 │ └───────────────┘ + └──────────┘ │ │ Rear │ + ┌────────────────▼─┐└───────────┘ + │ SSD1306 │ + │ OLED 128×64 │ ┌───────────────────────────┐ + │ (0x3C) │ │ LEDs R/Y/G (GPIO) │ + └──────────────────┘ │ Green PWM < 35% │ + │ Yellow PWM 35–65% │ + │ Red PWM > 65% │ + ├───────────────────────────┤ + │ Passive Buzzer (PWM) │ + │ Horn + audio feedback │ + └───────────────────────────┘ +``` + +The system is organized around five main subsystems: + +**1. MCU (STM32 Nucleo-U545RE-Q)** +The central unit running all Embassy-rs async tasks. Coordinates all subsystems and shared state protected by Mutex. + +**2. Motor Subsystem** +The L298N dual H-bridge receives PWM signals from the STM32 and drives 4 DC motors (2 per channel, left/right side in parallel - skid steering). The two IR LM393 optical sensors read encoder disc pulses on GPIO interrupts and compute RPM per side. + +**3. Sensing Subsystem** +- MPU-6500 (I2C, address 0x68): reads accelerometer + gyroscope data, combined via complementary filter to get a stable tilt angle +- 2x HC-SR04 (GPIO trigger/echo): front and rear obstacle detection +- 2x IR LM393 encoders: RPM feedback for PID + +**4. Communication Subsystem** +HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends movement commands (forward/backward/left/right + speed), robot sends back JSON telemetry at 5Hz. + +**5. Display & Indicators Subsystem** +- OLED SSD1306 128x64 (I2C, address 0x3C, shared bus with IMU): displays RPM, tilt angle, obstacle distance, state, load level +- 3x LEDs (green/yellow/red) on GPIO: visual indicator of motor effort based on PWM duty cycle +- Passive buzzer on PWM: horn and audio feedback + +**Embassy-rs Async Tasks:** + +| Task | Frequency | Responsibility | +|------|-----------|----------------| +| sensor_task | 20 Hz | Read IMU (I2C) + ultrasonic sensors | +| motor_task | 50 Hz | Apply PWM to L298N, read encoders | +| navigation_task | 10 Hz | State machine: FORWARD / COMPENSATE / AVOID / STOP | +| telemetry_task | 5 Hz | Serialize JSON and send over UART to HC-06 | +| display_task | 4 Hz | Update OLED + LED indicators | + +**Navigation State Machine:** + +| State | Entry Condition | Action | +|-------|----------------|--------| +| FORWARD | No obstacle, pitch < 5° | Move at target speed, PID active | +| COMPENSATE | Pitch > 5° (ramp) | Increase PWM proportional to tilt angle | +| AVOID | Obstacle < 30cm | Stop, rotate, resume forward | +| STOP | Manual command / error | Motors off, telemetry continues | + +**Peripheral Usage:** + +| Peripheral | Component | Usage | +|-----------|-----------|-------| +| PWM | STM32 -> L298N | Motor speed control (0–100% duty cycle) | +| PWM | STM32 -> Buzzer | Horn and melody generation | +| GPIO Output | STM32 -> HC-SR04 trigger | 10μs pulse to trigger ultrasonic | +| GPIO Input Interrupt | HC-SR04 echo -> STM32 | Measure echo duration -> distance | +| GPIO Input Interrupt | LM393 encoders -> STM32 | Count pulses -> compute RPM | +| GPIO Output | STM32 -> LEDs R/Y/G | Load indicator: green (<35%), yellow (35–65%), red (>65%) | +| GPIO Output | STM32 -> L298N IN1-IN4 | Motor direction control | +| I2C (shared bus) | STM32 -> MPU-6500 (0x68) | Accelerometer + gyroscope for tilt angle | +| I2C (shared bus) | STM32 -> SSD1306 (0x3C) | OLED telemetry display | +| UART | STM32 -> HC-06 | Bidirectional Bluetooth: commands in, telemetry out | ## Log -### Week 5 - 11 May +### Week 6 - 12 Apr +Ordered all of the components needed. -### Week 12 - 18 May +### Week 13 - 19 Apr +Assembled the mechanical parts (wheels, motors, car platform). -### Week 19 - 25 May +### Week 20 - 26 Apr +Working on the Schematic in KiCad. -## Hardware +### Week 27 Apr - 3 May -Detail in a few words the hardware used. +### Week 4 - 10 May -### Schematics +### Week 11 - 17 May -Place your KiCAD or similar schematics here in SVG format. +## Hardware -### Bill of Materials +The robot is built on a 4WD chassis with 4 DC motors (3–6V) driven through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. Three LEDs and a passive buzzer provide visual and audio feedback. - +### Bill of Materials | Device | Usage | Price | |--------|--------|-------| -| [Raspberry Pi Pico W](https://www.raspberrypi.com/documentation/microcontrollers/raspberry-pi-pico.html) | The microcontroller | [35 RON](https://www.optimusdigital.ro/en/raspberry-pi-boards/12394-raspberry-pi-pico-w.html) | - +| [STM32 Nucleo-U545RE-Q](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) | Main microcontroller (Cortex-M33), runs all Embassy-rs tasks | 0 RON (provided by university) | +| [4x DC motors (3-6V), encoder discs, wheels](https://www.bitmi.ro/set-motor-dc-3v-6v-cu-reductor-si-roata-11227.html) | Wheels and motors for the CargoBot | [40 RON](https://www.bitmi.ro/set-motor-dc-3v-6v-cu-reductor-si-roata-11227.html) +| [2x IR Speed Sensor LM393](https://sigmanortec.ro/Senzor-viteza-IR-LM393-p125686023) x2 | Optical encoder reading, counts pulses from encoder discs to compute RPM | [16.22 RON](https://sigmanortec.ro/Senzor-viteza-IR-LM393-p125686023) | +| [L298N Dual H-Bridge](https://sigmanortec.ro/Punte-H-Dubla-L298N-p125423236) | Motor driver, controls speed (PWM) and direction of both motor sides | [8.96 RON](https://sigmanortec.ro/Punte-H-Dubla-L298N-p125423236) | +| [MPU-6500 Accelerometer & Gyroscope](https://sigmanortec.ro/Modul-Accelerometru-Giroscop-I2C-MPU-6500-6-axe-p136248782) | 6-axis IMU, measures tilt angle via complementary filter (I2C, 0x68) | [9.92 RON](https://sigmanortec.ro/Modul-Accelerometru-Giroscop-I2C-MPU-6500-6-axe-p136248782) | +| [HC-06 Bluetooth Module](https://sigmanortec.ro/Modul-bluetooth-HC-06-p125923853) | Bidirectional wireless UART, receives keyboard commands, sends telemetry JSON | [25.13 RON](https://sigmanortec.ro/Modul-bluetooth-HC-06-p125923853) | +| [OLED SSD1306 0.96" I2C](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | On-board display, shows RPM, tilt, obstacle distance, state, load level (I2C, 0x3C) | [14.01 RON](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | +| [2x HC-SR04 Ultrasonic Sensor](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) x2 | Obstacle detection, front and rear, GPIO trigger/echo | [18.80 RON](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) | +| [18650 Battery Holder 2S](https://sigmanortec.ro/suport-acumulatori-18650-2s) | Holds 2x 18650 cells in series, 7.4V output for L298N and STM32 | [5.74 RON](https://sigmanortec.ro/suport-acumulatori-18650-2s) | +| Passive Buzzer | Horn and audio feedback via PWM, from Plusivo kit | 0 RON (owned) | +| 3x LED (red/yellow/green) + resistors | Visual motor effort indicator | 0 RON (owned) | +| Breadboard + jumper wires | For connections | 0 RON (owned) | ## Software | Library | Description | Usage | |---------|-------------|-------| -| [st7789](https://github.com/almindor/st7789) | Display driver for ST7789 | Used for the display for the Pico Explorer Base | -| [embedded-graphics](https://github.com/embedded-graphics/embedded-graphics) | 2D graphics library | Used for drawing to the display | +| [embassy-stm32](https://github.com/embassy-rs/embassy) | Async HAL for STM32U5 | PWM, I2C, UART, GPIO, Timer drivers | +| [embassy-executor](https://github.com/embassy-rs/embassy) | Async task executor | Spawning and running concurrent tasks | +| [embassy-time](https://github.com/embassy-rs/embassy) | Async timers and delays | Task scheduling at fixed frequencies | +| [embassy-sync](https://github.com/embassy-rs/embassy) | Synchronization primitives | Mutex and Channel for inter-task shared state | +| [ssd1306](https://github.com/rust-embedded-community/ssd1306) | OLED SSD1306 driver | I2C display rendering | +| [embedded-graphics](https://github.com/embedded-graphics/embedded-graphics) | 2D graphics library | Drawing text and shapes on OLED | +| [heapless](https://github.com/rust-embedded/heapless) | No-alloc data structures | String/Vec without heap allocation | +| [defmt](https://github.com/knurling-rs/defmt) + defmt-rtt | Logging framework | Debug output via probe | +| [libm](https://github.com/rust-lang/libm) | Math functions (no_std) | atan2, sqrt for complementary filter | +| Python pyserial | Serial communication | PC-side script to receive telemetry and send commands over Bluetooth | +| Python matplotlib / Flask | Data visualization | Live dashboard with RPM, PWM, tilt, distance graphs | ## Links - - -1. [link](https://example.com) -2. [link](https://example3.com) -... - +1. [Embassy-rs documentation](https://embassy.dev) +2. [STM32 Nucleo-U545RE-Q user manual](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) +3. [MPU-6500 datasheet](https://invensense.tdk.com/products/motion-tracking/6-axis/mpu-6500/) +4. [SSD1306 OLED driver crate](https://github.com/rust-embedded-community/ssd1306) +5. [L298N datasheet](https://www.st.com/resource/en/datasheet/l298.pdf) +6. [HC-SR04 ultrasonic sensor guide](https://cdn.sparkfun.com/datasheets/Sensors/Proximity/HCSR04.pdf) From 6aee107b1331c28e96c647158626c74233670cf6 Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Tue, 28 Apr 2026 10:49:33 +0300 Subject: [PATCH 3/9] Added architectural diagram Signed-off-by: Andrei Rusanescu --- .../project/2026/andrei.rusanescu/index.md | 80 +++---------------- .../2026/andrei.rusanescu/schema_bloc.svg | 3 + 2 files changed, 13 insertions(+), 70 deletions(-) create mode 100755 website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md index 5bc9330a139..1f058a2b9ba 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -12,7 +12,7 @@ Remote-controlled cargo robot with Bluetooth telemetry ## Description -CargoBot is a remote-controlled four-wheeled robot that carries cargo and navigates surfaces with imperfections (bumps, ramps, carpet). It is controlled from a laptop keyboard via Bluetooth and uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs. It sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. +CargoBot is a remote-controlled four-wheeled robot that carries cargo and navigates surfaces with imperfections. It is controlled from a laptop keyboard via Bluetooth and uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs. It sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. The central idea of the project is measuring and visualizing the impact of cargo load on motor performance: when the robot carries something heavy, the PID controller automatically increases the PWM duty cycle to maintain a constant speed. This compensation is observable live on the robot's OLED, on the PC dashboard, and through 3 LEDs (green/yellow/red) that visually indicate the effort level. @@ -22,67 +22,7 @@ I am particularly interested in cars and networking. This project combines multi ## Architecture -``` - ┌─────────────────────────┐ - │ Laptop │ - │ Dashboard + Keyboard │ - └────────────┬────────────┘ - │ Bluetooth SPP - ┌────────────▼────────────┐ - │ HC-06 │ - │ Bluetooth Module │ - └────────────┬────────────┘ - │ UART (TX/RX) - ┌───────────────────────┐ ┌───────────▼─────────────────────────────────┐ - │ 18650 2S Battery │ │ │ - │ 7.4V / 6800mAh │ │ STM32 Nucleo-U545RE-Q │ - └───────────┬───────────┘ │ ARM Cortex-M33 @ 160MHz │ - │ 7.4V │ │ - ┌───────────▼────────────┐ 5V reg │ ┌────────────────────────────────────────┐ │ - │ L298N ├───────► │ Embassy-rs Async Tasks: │ │ - │ Dual H-Bridge │ │ │ sensor_task (20 Hz) │ │ - └──────┬──────┬──────────┘ │ │ motor_task (50 Hz) │ │ - │ │◄──────────────────┤ │ navigation_task (10 Hz) │ │ - PWM │ │ PWM + GPIO │ │ telemetry_task (5 Hz) │ │ - (L/R) │ │ (IN1–IN4, speed) │ │ display_task (4 Hz) │ │ - │ │ │ └────────────────────────────────────────┘ │ - ┌──────┴──────┴───────┐ │ │ - │ DC Motors │ │ ┌────────────────────────────────────────┐ │ - │ Left ×2│ Right ×2 │ │ │ Interfaces: │ │ - │ 3–6V, skid steer. │ │ │ PWM -> L298N (motor speed 0–100%) │ │ - └─────────────────────┘ │ │ Passive Buzzer (horn/melody) │ │ - │ │ I2C -> MPU-6500 (0x68) │ │ - │ │ SSD1306 OLED (0x3C) │ │ - │ │ UART -> HC-06 (cmds in, JSON out) │ │ - │ │ GPIO -> HC-SR04 ×2 (trigger+echo) │ │ - │ │ LM393 ×2 (interrupt pulses) │ │ - │ │ L298N IN1–IN4 (direction) │ │ - │ │ LEDs R/Y/G (effort level) │ │ - │ └────────────────────────────────────────┘ │ - │ │ - └────┬──────────────┬──────────────┬──────────┘ - │ │ │ - I2C (shared) GPIO GPIO interrupt - │ (trig/echo) (pulses) - ┌──────┴──────┐ │ │ - ┌──▼───────┐ │ ┌────▼──────┐ ┌───▼───────────┐ - │ MPU-6500 │ │ │ HC-SR04 │ │ LM393 │ - │ IMU │ │ │ Front │ │ Encoders │ - │ (0x68) │ │ ├───────────┤ │ Left + Right │ - │accel+gyro│ │ │ HC-SR04 │ └───────────────┘ - └──────────┘ │ │ Rear │ - ┌────────────────▼─┐└───────────┘ - │ SSD1306 │ - │ OLED 128×64 │ ┌───────────────────────────┐ - │ (0x3C) │ │ LEDs R/Y/G (GPIO) │ - └──────────────────┘ │ Green PWM < 35% │ - │ Yellow PWM 35–65% │ - │ Red PWM > 65% │ - ├───────────────────────────┤ - │ Passive Buzzer (PWM) │ - │ Horn + audio feedback │ - └───────────────────────────┘ -``` +![Architecture](schema_bloc.svg) The system is organized around five main subsystems: @@ -113,14 +53,14 @@ HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends | motor_task | 50 Hz | Apply PWM to L298N, read encoders | | navigation_task | 10 Hz | State machine: FORWARD / COMPENSATE / AVOID / STOP | | telemetry_task | 5 Hz | Serialize JSON and send over UART to HC-06 | -| display_task | 4 Hz | Update OLED + LED indicators | +| display_task | 4 Hz | Update OLED | **Navigation State Machine:** | State | Entry Condition | Action | |-------|----------------|--------| -| FORWARD | No obstacle, pitch < 5° | Move at target speed, PID active | -| COMPENSATE | Pitch > 5° (ramp) | Increase PWM proportional to tilt angle | +| FORWARD | No obstacle | Move at target speed, PID active | +| COMPENSATE | Pitch > 5 deg (ramp) | Increase PWM proportional to tilt angle | | AVOID | Obstacle < 30cm | Stop, rotate, resume forward | | STOP | Manual command / error | Motors off, telemetry continues | @@ -129,11 +69,11 @@ HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends | Peripheral | Component | Usage | |-----------|-----------|-------| | PWM | STM32 -> L298N | Motor speed control (0–100% duty cycle) | -| PWM | STM32 -> Buzzer | Horn and melody generation | -| GPIO Output | STM32 -> HC-SR04 trigger | 10μs pulse to trigger ultrasonic | +| PWM | STM32 -> Buzzer | Horn | +| GPIO Output | STM32 -> HC-SR04 trigger | 10 micro-s pulse to trigger ultrasonic | | GPIO Input Interrupt | HC-SR04 echo -> STM32 | Measure echo duration -> distance | | GPIO Input Interrupt | LM393 encoders -> STM32 | Count pulses -> compute RPM | -| GPIO Output | STM32 -> LEDs R/Y/G | Load indicator: green (<35%), yellow (35–65%), red (>65%) | +| GPIO Output | STM32 -> LEDs R/Y/G | Load indicator: green (<35%), yellow (35–65%), red (>65%) | | GPIO Output | STM32 -> L298N IN1-IN4 | Motor direction control | | I2C (shared bus) | STM32 -> MPU-6500 (0x68) | Accelerometer + gyroscope for tilt angle | | I2C (shared bus) | STM32 -> SSD1306 (0x3C) | OLED telemetry display | @@ -160,7 +100,7 @@ Working on the Schematic in KiCad. ## Hardware -The robot is built on a 4WD chassis with 4 DC motors (3–6V) driven through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. Three LEDs and a passive buzzer provide visual and audio feedback. +The robot is built on a 4WD chassis with 4 DC motors (3–6V) driven through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. ### Schematics @@ -181,7 +121,7 @@ Place your KiCAD schematics here in SVG format. | [OLED SSD1306 0.96" I2C](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | On-board display, shows RPM, tilt, obstacle distance, state, load level (I2C, 0x3C) | [14.01 RON](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | | [2x HC-SR04 Ultrasonic Sensor](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) x2 | Obstacle detection, front and rear, GPIO trigger/echo | [18.80 RON](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) | | [18650 Battery Holder 2S](https://sigmanortec.ro/suport-acumulatori-18650-2s) | Holds 2x 18650 cells in series, 7.4V output for L298N and STM32 | [5.74 RON](https://sigmanortec.ro/suport-acumulatori-18650-2s) | -| Passive Buzzer | Horn and audio feedback via PWM, from Plusivo kit | 0 RON (owned) | +| Passive Buzzer | Horn and audio feedback via PWM | 0 RON (owned) | | 3x LED (red/yellow/green) + resistors | Visual motor effort indicator | 0 RON (owned) | | Breadboard + jumper wires | For connections | 0 RON (owned) | diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg new file mode 100755 index 00000000000..8a289b2fbb5 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg @@ -0,0 +1,3 @@ + + +
Baterie 18650 (2S  7.4V)
Driver motoare L298N
Alimentare
7.4V
Putere
Motoare
Motoare DC stanga/dreapta
Motoare DC stanga/dreapta
Putere
Motoare
STM32U545 RE-Q
PWM (viteza) + GPIO (directie)
Label
Alimentare 5V
UART TX/RX
Modul Bluetooth HC-06
Alimentare
5V
GPIO
TRIG/ECHO
Senzori ultrasonici HC-SR04 (x2)
Alim 5V
Encoder LM393 (x2)
GPIO EXTI/PULSE
Alim 3.3V
IMU
MPU-6500
I2C (SDA/SCL)
Display OLED SSD1306
I2C (SDA/SCL)
3.3V
3.3V
 \ No newline at end of file From 76b8a0caccc3671dfda2c77424ab815e91b48f3d Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Sun, 3 May 2026 08:47:50 +0300 Subject: [PATCH 4/9] Fixed: removed embedded base64 images from SVG --- .../version-acs_cc/project/2026/andrei.rusanescu/index.md | 2 +- .../project/2026/andrei.rusanescu/schema_bloc.svg | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md index 1f058a2b9ba..44901a3be56 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -18,7 +18,7 @@ The central idea of the project is measuring and visualizing the impact of cargo ## Motivation -I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It clearly demonstrates a measurable technical behavior - the difference in motor effort with and without cargo. The wireless telemetry component aligns with my personal interests in networking and systems. The software runs on Rust with Embassy-rs, a modern async embedded framework with cooperative concurrency. +I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It is a challenge that clearly demonstrates technical effort - the difference in motor effort with and without cargo, and how to compensate for the load. ## Architecture diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg index 8a289b2fbb5..da1a62b7b4d 100755 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/schema_bloc.svg @@ -1,3 +1,3 @@ -
Baterie 18650 (2S  7.4V)
Driver motoare L298N
Alimentare
7.4V
Putere
Motoare
Motoare DC stanga/dreapta
Motoare DC stanga/dreapta
Putere
Motoare
STM32U545 RE-Q
PWM (viteza) + GPIO (directie)
Label
Alimentare 5V
UART TX/RX
Modul Bluetooth HC-06
Alimentare
5V
GPIO
TRIG/ECHO
Senzori ultrasonici HC-SR04 (x2)
Alim 5V
Encoder LM393 (x2)
GPIO EXTI/PULSE
Alim 3.3V
IMU
MPU-6500
I2C (SDA/SCL)
Display OLED SSD1306
I2C (SDA/SCL)
3.3V
3.3V
 \ No newline at end of file +
Baterie 18650 (2S  7.4V)
Baterie 18650...
Driver motoare L298N
Driver motoar...
Alimentare
7.4V
Alimentare...
Putere
Motoare
Putere...
Motoare DC stanga/dreapta
Motoare DC...
Motoare DC stanga/dreapta
Motoare DC...
Putere
Motoare
Putere...
STM32U545 RE-Q
STM32U545 RE...
PWM (viteza) + GPIO (directie)
PWM (viteza) +...
Label
Label
Alimentare 5V
Alimentare 5V
UART TX/RX
UART TX/RX
Modul Bluetooth HC-06
Modul Blue...
Alimentare
5V
Alimentare...
GPIO
TRIG/ECHO
GPIO...
Senzori ultrasonici HC-SR04 (x2)
Senzori ultra...
Alim 5V
Alim 5V
Encoder LM393 (x2)
Encoder LM3...
GPIO EXTI/PULSE
GPIO EXTI/...
Alim 3.3V
Alim 3.3V
IMU
MPU-6500
IMU...
I2C (SDA/SCL)
I2C (SDA/S...
Display OLED SSD1306
Display OL...
I2C (SDA/SCL)
I2C (SDA/S...
3.3V
3.3V
3.3V
3.3V \ No newline at end of file From dcd73b18205ab80794283a4941b325d93a0fea60 Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Tue, 12 May 2026 08:44:37 +0300 Subject: [PATCH 5/9] Updated log and added schematic. Signed-off-by: Andrei Rusanescu --- .../2026/andrei.rusanescu/PM_PROJECT.svg | 41032 ++++++++++++++++ .../project/2026/andrei.rusanescu/index.md | 21 +- 2 files changed, 41049 insertions(+), 4 deletions(-) create mode 100755 website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg new file mode 100755 index 00000000000..d0458defb80 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg @@ -0,0 +1,41032 @@ + + + +SVG Image created as PM_PROJECT.svg date 2026-05-12T08:15:45 + Image generated by Eeschema-SVG + + + + + + + + + + + +1 +1 + + + + + +2 +2 + + + + + + + + + + +3 +3 + + + + + + + + + + + + + +4 +4 + + + +5 +5 + + + + + + + + + + + + + + + +6 +6 + + + + + + + + + + + + + + + + + + + + + + + + + + +1 +1 + + + + + +2 +2 + + + + + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md index 44901a3be56..82786584b5e 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -84,27 +84,37 @@ HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends ### Week 6 - 12 Apr -Ordered all of the components needed. +Ordered most of the components needed. ### Week 13 - 19 Apr Assembled the mechanical parts (wheels, motors, car platform). ### Week 20 - 26 Apr Working on the Schematic in KiCad. +Tested individual components: bluetooth module, display, motors, distance sensors, LM393 speed sensors. ### Week 27 Apr - 3 May +Ordered Li-Ion Samsung 18650 3.6V 3450mAh 8A batteries, a charger for the batteries, +more male-female and female-female jumpers and a smaller breadboard (400 points). ### Week 4 - 10 May +Soldered IMU and OLED display in the lab. +Assembled final product. +Started to write the software for the cargobot and tested it carrying another car. +The HC-SR04 sensors are not so precise as the car sometimes crashes into walls if driven into. ### Week 11 - 17 May + ## Hardware The robot is built on a 4WD chassis with 4 DC motors (3–6V) driven through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. ### Schematics -Place your KiCAD schematics here in SVG format. + +KiCad Schematic: +![KiCad Schematic](PM_PROJECT.svg) @@ -121,9 +131,12 @@ Place your KiCAD schematics here in SVG format. | [OLED SSD1306 0.96" I2C](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | On-board display, shows RPM, tilt, obstacle distance, state, load level (I2C, 0x3C) | [14.01 RON](https://sigmanortec.ro/display-oled-096-i2c-iic-alb) | | [2x HC-SR04 Ultrasonic Sensor](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) x2 | Obstacle detection, front and rear, GPIO trigger/echo | [18.80 RON](https://sigmanortec.ro/Senzor-ultrasunete-HC-SR04-p125423514) | | [18650 Battery Holder 2S](https://sigmanortec.ro/suport-acumulatori-18650-2s) | Holds 2x 18650 cells in series, 7.4V output for L298N and STM32 | [5.74 RON](https://sigmanortec.ro/suport-acumulatori-18650-2s) | -| Passive Buzzer | Horn and audio feedback via PWM | 0 RON (owned) | +| [2x Li-Ion Samsung 18650 3.6V 3450mAh 8A](https://www.emag.ro/acumulator-li-ion-samsung-18650-3-6v-3450mah-8a-cu-borne-joase-si-fara-bms-model-inr18650-35e-3450ma-lincr18650-35e/pd/DWVV74MBM/) | Batteries to provide voltage for the motors and for the board | [63 RON](https://www.emag.ro/acumulator-li-ion-samsung-18650-3-6v-3450mah-8a-cu-borne-joase-si-fara-bms-model-inr18650-35e-3450ma-lincr18650-35e/pd/DWVV74MBM/) | +| [Battery charger](https://www.emag.ro/incarcator-dublu-pentru-acumulator-baterie-reincarcabila-4-2v-1000ma-li-ion-ultrafire-18650-10440-14500-16340-17335-17500-17670-18500-0201/pd/DMG7FVBBM/) | Charges the Li-ion batteries | [35 RON](https://www.emag.ro/incarcator-dublu-pentru-acumulator-baterie-reincarcabila-4-2v-1000ma-li-ion-ultrafire-18650-10440-14500-16340-17335-17500-17670-18500-0201/pd/DMG7FVBBM/) | | 3x LED (red/yellow/green) + resistors | Visual motor effort indicator | 0 RON (owned) | -| Breadboard + jumper wires | For connections | 0 RON (owned) | +| [Female-Female jumper wires](https://sigmanortec.ro/40-fire-Dupont-10cm-Mama-Mama-p129872525) | Wires for connections | [7.73 RON](https://sigmanortec.ro/40-fire-Dupont-10cm-Mama-Mama-p129872525) | +| [Male-Female jumper wires](https://sigmanortec.ro/40-fire-Dupont-10cm-Tata-Mama-p210855157) | Wires for connections | [7.73 RON](https://sigmanortec.ro/40-fire-Dupont-10cm-Tata-Mama-p210855157) | +| Male-Male jumper wires | Wires for connections | 0 RON (owned) | ## Software From 8fc5f378a4718388fe729bc1de6c73f8c9045871 Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Wed, 13 May 2026 06:35:23 +0300 Subject: [PATCH 6/9] Compressed schematic Signed-off-by: Andrei Rusanescu --- .../2026/andrei.rusanescu/PM_PROJECT.svg | 41033 +--------------- 1 file changed, 1 insertion(+), 41032 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg index d0458defb80..cbb50736c94 100755 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/PM_PROJECT.svg @@ -1,41032 +1 @@ - - - -SVG Image created as PM_PROJECT.svg date 2026-05-12T08:15:45 - Image generated by Eeschema-SVG - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - - - -1 -1 - - - - - -2 -2 - - - - - - - - - - -3 -3 - - - - - - - - - - - - - -4 -4 - - - -5 -5 - - - - - - - - - - - - - - - -6 -6 - - - - - - - - - - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - - - - -A -A - - - -B -B - - - - - - - - - - - - - - - - - - -C -C - - - - - - - - - - - - - - - -D -D - - - - - - - - - - - - -Date: 2026-05-04 -Date: 2026-05-04 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -KiCad E.D.A. 10.0.1 -KiCad E.D.A. 10.0.1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Rev: -Rev: - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Size: A4 -Size: A4 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Id: 1/1 -Id: 1/1 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -Title: 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through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. +![Car from above](IMG_3541.webp) +![Car from a side](IMG_3536.webp) + ### Schematics From f9cee9c351b2526f2d55ffc316db202c357366dd Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Tue, 19 May 2026 22:21:32 +0300 Subject: [PATCH 8/9] Added software log Signed-off-by: Andrei Rusanescu --- .../2026/andrei.rusanescu/cargobot_night.webp | Bin 0 -> 75790 bytes .../project/2026/andrei.rusanescu/index.md | 70 ++++++++++++------ 2 files changed, 46 insertions(+), 24 deletions(-) create mode 100755 website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/cargobot_night.webp diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/cargobot_night.webp b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/cargobot_night.webp new file mode 100755 index 0000000000000000000000000000000000000000..133ed7abb8d80be2b44f53a593116ac8e15a555a GIT binary patch literal 75790 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--- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -14,11 +14,11 @@ Remote-controlled cargo robot with Bluetooth telemetry CargoBot is a remote-controlled four-wheeled robot that carries cargo and navigates surfaces with imperfections. It is controlled from a laptop keyboard via Bluetooth and uses an STM32 Nucleo-U545RE-Q microcontroller programmed in Rust with Embassy-rs. It sends real-time telemetry data to a PC dashboard via Bluetooth, while simultaneously displaying information on an onboard OLED. -The central idea of the project is measuring and visualizing the impact of cargo load on motor performance: when the robot carries something heavy, the PID controller automatically increases the PWM duty cycle to maintain a constant speed. This compensation is observable live on the robot's OLED, on the PC dashboard, and through 3 LEDs (green/yellow/red) that visually indicate the effort level. +The central idea of the project is measuring and visualizing the impact of cargo load on motor performance: when the robot carries something heavy, the PID controller automatically increases the PWM duty cycle to maintain a constant speed. This compensation is observable live on the robot's OLED, on the PC dashboard, and through 3 LEDs (green/blue/red) that visually indicate the effort level. ## Motivation -I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART, Bluetooth) into a functional system. It is a challenge that clearly demonstrates technical effort - the difference in motor effort with and without cargo, and how to compensate for the load. +I am particularly interested in cars and networking. This project combines multiple peripherals studied in the lab (PWM, GPIO, I2C, UART (Bluetooth)) into a functional system. It is a challenge that clearly demonstrates technical effort - the difference in motor effort with and without cargo, and how to compensate for the load. It really excites me because I get to apply what I've learnt in electronics, microprocessor programming in Rust and really build a hardware product. ## Architecture @@ -38,42 +38,41 @@ The L298N dual H-bridge receives PWM signals from the STM32 and drives 4 DC moto - 2x IR LM393 encoders: RPM feedback for PID **4. Communication Subsystem** -HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends movement commands (forward/backward/left/right + speed), robot sends back JSON telemetry at 5Hz. +HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends raw keyboard characters (w, a, s, d, x, p), and the robot streams back high-efficiency text-based CSV telemetry (T,Load,Comp,Ax,Ay,Gz) at 10Hz to reduce microcontroller overhead. **5. Display & Indicators Subsystem** -- OLED SSD1306 128x64 (I2C, address 0x3C, shared bus with IMU): displays RPM, tilt angle, obstacle distance, state, load level -- 3x LEDs (green/yellow/red) on GPIO: visual indicator of motor effort based on PWM duty cycle -- Passive buzzer on PWM: horn and audio feedback +- OLED SSD1306 128x64 (I2C, address 0x3C, shared bus with IMU): displays active metrics like distance, encoder ticks, load %, and current power mode. +- 3x LEDs (green/blue/red) on GPIO: visual indicator of motor effort based on PWM duty cycle +- PC Dashboard: Tkinter window with embedded real-time Matplotlib animation canvas displaying streaming physics graphs. **Embassy-rs Async Tasks:** | Task | Frequency | Responsibility | |------|-----------|----------------| -| sensor_task | 20 Hz | Read IMU (I2C) + ultrasonic sensors | -| motor_task | 50 Hz | Apply PWM to L298N, read encoders | -| navigation_task | 10 Hz | State machine: FORWARD / COMPENSATE / AVOID / STOP | -| telemetry_task | 5 Hz | Serialize JSON and send over UART to HC-06 | -| display_task | 4 Hz | Update OLED | +| encoder_left_task / right | Interrupt-driven | Counts wheel encoder slot edges using GPIO EXTI triggers. | +| distance_task | 16 Hz | Triggers and measures echo responses from front/rear HC-SR04 sensors. | +| imu_task | 50 Hz | Reads raw Accel/Gyro data from MPU-6500 over I2C and stores scaled values. | +| pid_task | 5 Hz | Performs Low-Pass filtering, fast auto-calibration, and runs the PI speed compensation loop. | +| telemetry_task | 10 Hz | Formats data into a CSV string and transmits it wirelessly over UART. | +| display_task | 2 Hz | Refreshes the on-board OLED graphics. | +| bluetooth_task | Async Rx | Listens for incoming control characters from the PC. | -**Navigation State Machine:** +**Navigation & PI Compensation Logic:** +Instead of basic tilt-triggering, CargoBot uses an intelligent sensor-fusion approach: +1. **Auto-Calibration**: On first throttle, it calibrates the ideal steady-state wheel RPM. +2. **Load Tracking**: A Low-Pass filter smooths out encoder noise. If the filtered RPM drops below the reference value due to cargo weight or friction, the robot calculates the exact `Load %`. +3. **PI Regulation**: A Proporțional-Integral loop dynamically scales up the PWM duty cycle to maintain constant cruise speed, bypassing inertia during start-up via a dedicated blind window. -| State | Entry Condition | Action | -|-------|----------------|--------| -| FORWARD | No obstacle | Move at target speed, PID active | -| COMPENSATE | Pitch > 5 deg (ramp) | Increase PWM proportional to tilt angle | -| AVOID | Obstacle < 30cm | Stop, rotate, resume forward | -| STOP | Manual command / error | Motors off, telemetry continues | **Peripheral Usage:** | Peripheral | Component | Usage | |-----------|-----------|-------| | PWM | STM32 -> L298N | Motor speed control (0–100% duty cycle) | -| PWM | STM32 -> Buzzer | Horn | -| GPIO Output | STM32 -> HC-SR04 trigger | 10 micro-s pulse to trigger ultrasonic | +| GPIO Output | STM32 -> HC-SR04 trigger | pulse to trigger ultrasonic | | GPIO Input Interrupt | HC-SR04 echo -> STM32 | Measure echo duration -> distance | | GPIO Input Interrupt | LM393 encoders -> STM32 | Count pulses -> compute RPM | -| GPIO Output | STM32 -> LEDs R/Y/G | Load indicator: green (<35%), yellow (35–65%), red (>65%) | +| GPIO Output | STM32 -> LEDs R/G/B | Load indicator: green (ECO mode), blue (DRIVE mode), red (SPEED mode) | | GPIO Output | STM32 -> L298N IN1-IN4 | Motor direction control | | I2C (shared bus) | STM32 -> MPU-6500 (0x68) | Accelerometer + gyroscope for tilt angle | | I2C (shared bus) | STM32 -> SSD1306 (0x3C) | OLED telemetry display | @@ -101,15 +100,38 @@ more male-female and female-female jumpers and a smaller breadboard (400 points) Soldered IMU and OLED display in the lab. Assembled final product. Started to write the software for the cargobot and tested it carrying another car. -The HC-SR04 sensors are not so precise as the car sometimes crashes into walls if driven into. +The car automatically stops when it detects an object at less than 15cm distance. ### Week 11 - 17 May +Wrote even more software. Noticed that with adding more components, the responsiveness of the +bluetooth commands degraded, so I had to debug a lot with the frequencies, which led me to +activate the 16MHz crystal of the board to raise the frequency on i2c (for the display). + +I had problems with the HC-SR04 distance sensors as well. They are placed back-to-back, +which initially caused significant acoustic interference (cross-talk) because they were +attempting to fire and update simultaneously at the same frequency. This ultrasonic overlap +caused one of the sensors to constantly freeze or report false timeouts, as it would accidentally +catch the stray echo generated by the opposite sensor. + +To solve this limitation, I refactored the software into a single, synchronized Embassy async +task (`distance_task`). Instead of running concurrently, the sensors are now triggered sequentially: +the system measures the front distance, waits for a deliberate 30ms gap to let any residual acoustic +noise dissipate, and only then triggers the rear sensor. This simple interleaving completely eliminated +the sensor locking issue. + +### Week 18 - 24 May +Finalized the closed-loop motor control by deploying a tuned PI velocity regulator ($K_P=35, K_I=15$) and locking the noisy derivative term ($K_D$) to zero. +Implemented a $7/8$ exponential moving average Low-Pass filter to smooth out encoder slot jitter, a rapid auto-calibration routine to sample target cruise speeds, and a 1.6-second startup "blind window" to stop the controller from confusing physical takeoff inertia with cargo load. +Built the custom companion PC interface using Python Tkinter and Matplotlib to handle low-latency key debouncing and animate the 10Hz text-based CSV telemetry streams in real time. ## Hardware -The robot is built on a 4WD chassis with 4 DC motors (3–6V) driven through an L298N dual H-bridge using skid steering (left/right side in parallel). Speed and direction are controlled via PWM from the STM32. Two IR optical sensors read encoder discs on the motors to compute RPM. An MPU-6500 IMU over I2C measures tilt angle using a complementary filter. Two HC-SR04 ultrasonic sensors handle obstacle detection front and rear. An SSD1306 OLED displays live telemetry. An HC-06 Bluetooth module provides bidirectional communication with the laptop. +The robot is built on a 4WD chassis powered by four DC motors (3–6V) wired in parallel per side (skid steering) and driven by an L298N dual H-bridge. Speed is dynamically regulated via 1kHz PWM signals from the STM32, while directional control is managed through discrete GPIO pins. Two LM393 IR optical sensors read wheel encoder discs to provide real-time RPM feedback, which serves as the primary metric for the PI load-compensation algorithm. + +For environmental and physics telemetry, an MPU-6500 IMU communicates over a shared I2C bus to track linear accelerations ($A_x$, $A_y$, $A_z$) and yaw rate ($G_z$). Spatial awareness is handled by two HC-SR04 ultrasonic sensors placed at the front and rear, utilizing timed GPIO echo interrupts for obstacle detection. Visual feedback is split between an onboard SSD1306 OLED display for standalone diagnostics and an HC-06 Bluetooth module that streams raw, high-frequency CSV telemetry packets to a custom Python dashboard on a PC. +![Car at night](cargobot_night.webp) ![Car from above](IMG_3541.webp) ![Car from a side](IMG_3536.webp) @@ -155,7 +177,7 @@ KiCad Schematic: | [defmt](https://github.com/knurling-rs/defmt) + defmt-rtt | Logging framework | Debug output via probe | | [libm](https://github.com/rust-lang/libm) | Math functions (no_std) | atan2, sqrt for complementary filter | | Python pyserial | Serial communication | PC-side script to receive telemetry and send commands over Bluetooth | -| Python matplotlib / Flask | Data visualization | Live dashboard with RPM, PWM, tilt, distance graphs | +| Python matplotlib + tkinter | Desktop GUI & Plotting | Live dashboard with telemetry and PID | ## Links From 8f22cd066c4e13de8971422396a06a114be17c3a Mon Sep 17 00:00:00 2001 From: Andrei Rusanescu Date: Thu, 21 May 2026 21:17:08 +0300 Subject: [PATCH 9/9] Added software design and diagram Signed-off-by: Andrei Rusanescu --- .../project/2026/andrei.rusanescu/index.md | 97 +++++++++++++++++-- .../software_diagram_colored.svg | 3 + 2 files changed, 94 insertions(+), 6 deletions(-) create mode 100755 website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/software_diagram_colored.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md index 2e775ca23e3..e1d161a5639 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/index.md @@ -22,7 +22,9 @@ I am particularly interested in cars and networking. This project combines multi ## Architecture -![Architecture](schema_bloc.svg) +![Hardware diagram](schema_bloc.svg) + +Both the hardware and software diagrams are drawn in `draw.io`. The system is organized around five main subsystems: @@ -38,10 +40,10 @@ The L298N dual H-bridge receives PWM signals from the STM32 and drives 4 DC moto - 2x IR LM393 encoders: RPM feedback for PID **4. Communication Subsystem** -HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends raw keyboard characters (w, a, s, d, x, p), and the robot streams back high-efficiency text-based CSV telemetry (T,Load,Comp,Ax,Ay,Gz) at 10Hz to reduce microcontroller overhead. +HC-06 Bluetooth module connected to STM32 via UART. Bidirectional: laptop sends raw keyboard characters (w, a, s, d, x, p), and the robot streams back high-efficiency text-based CSV telemetry (T,Load,Comp,Ax,Ay,Gz,Slope) at 10Hz to reduce microcontroller overhead. **5. Display & Indicators Subsystem** -- OLED SSD1306 128x64 (I2C, address 0x3C, shared bus with IMU): displays active metrics like distance, encoder ticks, load %, and current power mode. +- OLED SSD1306 128x64 (I2C, address 0x3C, shared bus with IMU): displays active metrics like distance, encoder ticks, load %, slope, and current power mode. - 3x LEDs (green/blue/red) on GPIO: visual indicator of motor effort based on PWM duty cycle - PC Dashboard: Tkinter window with embedded real-time Matplotlib animation canvas displaying streaming physics graphs. @@ -121,11 +123,32 @@ the sensor locking issue. ### Week 18 - 24 May Finalized the closed-loop motor control by deploying a tuned PI velocity regulator ($K_P=35, K_I=15$) and locking the noisy derivative term ($K_D$) to zero. -Implemented a $7/8$ exponential moving average Low-Pass filter to smooth out encoder slot jitter, a rapid auto-calibration routine to sample target cruise speeds, and a 1.6-second startup "blind window" to stop the controller from confusing physical takeoff inertia with cargo load. -Built the custom companion PC interface using Python Tkinter and Matplotlib to handle low-latency key debouncing and animate the 10Hz text-based CSV telemetry streams in real time. +Implemented a $7/8$ exponential moving average Low-Pass filter to smooth out encoder slot jitter, a rapid auto-calibration routine that samples the target cruise RPM during the first seconds of movement and a 1.6-second startup blind window to stop the controller from confusing physical takeoff inertia with cargo load. + +Added another 2 compensation channels: +1. Yaw-rate correction (lateral drift): The gyroscope $G_z$ axis is sampled +at every PI loop tick (5 Hz). When the robot is commanded straight +(`w` / `s`) and a non-zero yaw rate is detected, caused by an +asymmetrically placed load or a difference in motor friction, the +controller applies an asymmetric PWM correction. The yaw mixer is disabled +during deliberate turns (`a` / `d`) via the `IS_TURNING` flag so that it +does not fight the intentional rotation. +It takes a few tries to get the right values. + +2. Slope detection and pre-emptive compensation: The accelerometer $A_y$ +axis (aligned with the driving direction after the IMU mounting orientation +was taken into account) is read each PI tick. The slope compensation is +clamped to +/- 30 % PWM. The result is published to `SLOPE_COMP` and added +**symmetrically** to both wheels in the motor loop, acting as a +feed-forward term that pre-emptively increases the +duty cycle before the PI loop has had time to react to the RPM drop. +Built the custom companion PC interface using Python Tkinter and Matplotlib +to handle low-latency key debouncing and animate the 10Hz text-based CSV +telemetry streams (`T,Load,Comp,Ax,Ay,Gz,Slope`) in real time. -## Hardware + +## Hardware design The robot is built on a 4WD chassis powered by four DC motors (3–6V) wired in parallel per side (skid steering) and driven by an L298N dual H-bridge. Speed is dynamically regulated via 1kHz PWM signals from the STM32, while directional control is managed through discrete GPIO pins. Two LM393 IR optical sensors read wheel encoder discs to provide real-time RPM feedback, which serves as the primary metric for the PI load-compensation algorithm. @@ -142,6 +165,68 @@ KiCad Schematic: ![KiCad Schematic](PM_PROJECT.svg) +## Software design +The entire program is `#![no_std]` and `#![no_main]`; +there is no heap, no operating system, and no RTOS scheduler, thus +all concurrency is cooperative and driven by `async`/`await`. + +### Concurrency Model + +Embassy runs a single-threaded cooperative executor. Every task is a Rust +`async fn` marked with `#[embassy_executor::task]`. Because only one task +runs at a time and tasks yield at every `.await` point, shared state can be +safely exchanged through **lock-free atomics** (`AtomicU32`, `AtomicI32`, +`AtomicBool`) for single-value reads/writes, and through an +`embassy_sync::channel::Channel` for the command queue. The I2C bus, which +is shared between the IMU and the OLED, is protected by an +`embassy_sync::mutex::Mutex` stored in a +`StaticCell` so that its `'static` lifetime can be passed to multiple tasks. + +I chose lock-free atomics because they are fast they can be used with ease +in more then 2 functions (if I used a channel instead of atomics it would have gotten +very complicated very fast). Atomics ar fast and simple. + + +### Global Shared State - Atomic Variables + +All inter-task communication goes through a flat set of `static` atomics. +The table below maps each atomic to the task that **writes** it and the tasks that **reads** it. + +| Atomic | Type | Writer | Readers | Meaning | +|--------|------|--------|---------|---------| +| `DIST_FRONT_CM` | `AtomicU32` | `distance_task` | `display_task`, `main` (motor) | Front HC-SR04 distance (cm) | +| `DIST_REAR_CM` | `AtomicU32` | `distance_task` | `display_task`, `main` (motor) | Rear HC-SR04 distance (cm) | +| `EMERGENCY_STOP_FRONT` | `AtomicBool` | `distance_task` | `main` (motor) | True when front obstacle < 15 cm | +| `EMERGENCY_STOP_REAR` | `AtomicBool` | `distance_task` | `main` (motor) | True when rear obstacle < 15 cm | +| `ENC_L_TICKS` | `AtomicU32` | `encoder_left_task` | `pid_task`, `display_task` | Cumulative left encoder ticks (20 per slot) | +| `ENC_R_TICKS` | `AtomicU32` | `encoder_right_task` | `pid_task`, `display_task` | Cumulative right encoder ticks | +| `IMU_AX` | `AtomicI32` | `imu_task` | `pid_task`, `telemetry_task` | Accel X x100 (% of 1 g) | +| `IMU_AY` | `AtomicI32` | `imu_task` | `pid_task`, `telemetry_task` | Accel Y x100, LPF-filtered | +| `IMU_AZ` | `AtomicI32` | `imu_task` | `telemetry_task` | Accel Z x100 | +| `IMU_GZ` | `AtomicI32` | `imu_task` | `pid_task`, `telemetry_task` | Yaw rate x100 (deg/s), LPF-filtered | +| `LOAD_PERCENT` | `AtomicU32` | `pid_task` | `display_task`, `telemetry_task` | Load % (0 = no load, 100 = motor blocked) | +| `PID_COMPENSATION` | `AtomicI32` | `pid_task` | `display_task`, `telemetry_task` | Symmetric PI output (% PWM delta) | +| `PID_COMP_LEFT` | `AtomicI32` | `pid_task` | `main` (motor) | Left wheel comp after yaw mixer | +| `PID_COMP_RIGHT` | `AtomicI32` | `pid_task` | `main` (motor) | Right wheel comp after yaw mixer | +| `SLOPE_COMP` | `AtomicI32` | `pid_task` | `main` (motor), `display_task`, `telemetry_task` | Feed-forward slope compensation (% PWM) | +| `PWM_LEFT_ACTUAL` | `AtomicU8` | `main` (motor) | `pid_task` | Actual left PWM duty sent to L298N | +| `PWM_RIGHT_ACTUAL` | `AtomicU8` | `main` (motor) | `pid_task` | Actual right PWM duty sent to L298N | +| `POWER_MODE` | `AtomicU8` | `main` (motor) | `display_task`, `telemetry_task` | 0=ECO, 1=DRIVE, 2=SPORT | +| `PID_CALIBRATED` | `AtomicBool` | `pid_task` | `display_task`, `telemetry_task`, `pid_task` | True once reference RPM is locked | +| `REFERENCE_RPM_X100` | `AtomicU32` | `pid_task` | `pid_task` | Calibrated cruise RPM x100 | +| `IS_TURNING` | `AtomicBool` | `main` (motor) | `pid_task` | True during `a`/`d` commands | + +The single channel: +| Channel | Type | Sender | Receiver | Meaning | +|---------|------|--------|----------|---------| +| `CMD_CHANNEL` | `Channel<_, u8, 4>` | `bluetooth_task` | `main` (motor) | Raw command bytes: `w s a d x p` | + + +### Software diagram + +![software_diagram](software_diagram_colored.svg) + + ### Bill of Materials diff --git a/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/software_diagram_colored.svg b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/software_diagram_colored.svg new file mode 100755 index 00000000000..27a2026cb55 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/andrei.rusanescu/software_diagram_colored.svg @@ -0,0 +1,3 @@ + + +
enocder_left
encoder_right
enocder_left...
pid_task (5Hz)

1. LPF encoder -> filtered_rpm
2. Slope feed-forward(Ay)
3. Auto-calibration
4. PI control -> PID comp
5. Yaw mixer (Gz):
  • PID_COMP_LEFT
  • PID_COMP_RIGHT
6. Publishes SLOPE_COMP_LOAD_PERCENT
pid_task (5Hz)...
EXTI edges
EXTI edges
ENC_L/R_TICKS
ENC_L/R_TICKS
imu_task (50Hz)
imu_task (50Hz)
IMU_AX/AY/AZ 
IMU_GZ, IS_TURNING
IMU_AX/AY/AZ...
display_task (2Hz)

SSD1306 OLED
128x64px
display_task (2Hz)...
I2C (shared)  Bus Mutex
I2C (shared)...
DIST_FRONT/REAR_CM
DIST_FRONT/REAR_CM
ENC_L/R_TICKS
LOAD_PERCENT
ENC_L/R_TICKS...
PID_COMP
SLOPE_COMP
POWER_MODE
PID_COMP...
main - motor loop (50Hz)

CMD_CHANNEL <- BT
ESTOP override
base_speed + comp_L/R + slope

main - motor loop (50Hz)...
PID_COMP_L/R
SLOPE_COMP
PID_COMP_L/R...
L298N
H-Bridge
L298N...
TIM15 PWM GPIO direction
TIM15 PWM GPIO d...
4x DC motors
4x DC moto...
IN1-IN4 GPIO
IN1-IN4 GP...
distance_task (8Hz)

front sensor
30ms gap
rear sensor
distance_task (8Hz)...
DIST_FRONT_CM
ESTOP_FRONT
DIST_FRONT_CM...
DIST_REAR_CM
ESTOP_REAR
DIST_REAR_CM...
bluetooth_task
(async RX)
bluetooth_task...
CMD_CHANNEL
CMD_CHANNEL
IMU_AY | IMU_GZ
IMU_AY | IMU_GZ
telemetry_task (10Hz TX)
CSV over BT
telemetry_task (10Hz...
LOAD_PERCENT
PID_COMPENSATION
IMU_AX/AY/GZ
SLOPE_COMP
LOAD_PERCENT... \ No newline at end of file