From 6a438da17534d910e643ee4bcf47a1b39952c90b Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Tue, 28 Apr 2026 01:00:08 +0300
Subject: [PATCH 01/10] Added initial documentation

---
 .../project/2026/ana_maria.lupu1304/index.md  | 105 ++++++++++++++++++
 1 file changed, 105 insertions(+)
 create mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
new file mode 100644
index 00000000000..060b9e9bc1d
--- /dev/null
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -0,0 +1,105 @@
+
+A self-balancing cube controlled by an STM32 microcontroller, using IMU feedback and internal reaction wheels to balance on an edge or corner.
+
+Author: Ana-Maria-Raluca Lupu
+GitHub Project Link: https://github.com/UPB-PMRust-Students/acs-project-2026-lupuana
+
+## Description
+
+This project implements a self-balancing cube based on reaction-wheel control. The system reads motion and orientation data from an IMU sensor, estimates the cube state, and computes corrective motor commands in real time. Three internal motors spin reaction wheels to generate stabilizing torques, allowing the cube to recover balance and remain upright on an edge or corner.
+
+## Motivation
+
+I chose this project because it combines embedded programming, control systems, electronics, mechanical design, and real-time testing in a single system. It is a good practical challenge because it requires both hardware integration and software development, especially sensor processing, feedback control, and actuator coordination on an STM32 platform.
+
+## Architecture
+
+The main architecture components of the project are:
+
+- **Sensing layer**  
+  Reads acceleration and angular velocity data from the IMU.
+
+- **State estimation layer**  
+  Processes raw IMU data and computes the current orientation and angular motion of the cube.
+
+- **Control layer**  
+  Runs the balancing algorithm and computes correction values for each axis.
+
+- **Actuation layer**  
+  Sends control signals to the three reaction-wheel motors.
+
+- **Communication and tuning layer**  
+  Allows calibration and parameter adjustment through a Bluetooth serial connection.
+
+- **Power layer**  
+  Supplies the motors directly from the battery and powers the logic through a regulated 5V rail.
+
+
+
+### Architecture Diagram
+
+    +-------------------+
+    |   MPU6050 IMU     |
+    +-------------------+
+              |
+              v
+    +-------------------+
+    |  STM32 Firmware   |
+    | - sensor reading  |
+    | - filtering       |
+    | - control loop    |
+    | - calibration     |
+    +-------------------+
+         |        |
+         |        +------------------+
+         v                           v
+    +-----------+              +-------------+
+    |  Motors   |              |  HC-05 BT   |
+    | + wheels  |              | tuning link |
+    +-----------+              +-------------+
+         |
+         v
+    +-------------------+
+    |  Cube balancing   |
+    +-------------------+
+
+## Log
+
+### Weak 14 - 29 April
+
+- Finalized project theme and received approval.
+
+### Week 13 - 19 May
+
+- Researched and ordered components.
+
+## Hardware
+
+The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU for motion sensing, three brushless motors with encoders for the reaction wheels, a 3S LiPo battery for power, a 5V regulator for the logic section, a Bluetooth module for tuning, and a buzzer for status feedback.
+
+## Schematics
+
+
+
+## Bill of Materials
+
+| Device | Usage | Price | Link |
+|---|---|---:|---|
+| Dupont wire kit | Prototyping and signal wiring | 24.39 RON | [AliExpress](https://www.aliexpress.com/item/4000203371860.html?spm=a2g0o.order_list.order_list_main.5.b7a61802PaQuli) |
+| 2x MPU6050 GY-521 | IMU sensing | 48.84 RON | [AliExpress](https://www.aliexpress.com/item/1005008796700745.html?spm=a2g0o.order_list.order_list_main.11.b7a61802PaQuli) |
+| 3x Nidec 24H brushless servo motors | Reaction-wheel actuation | 138.57 RON | [AliExpress](https://www.aliexpress.com/item/1005005779471604.html?spm=a2g0o.order_list.order_list_main.17.b7a61802PaQuli) |
+| HC-05 Bluetooth module | Wireless tuning and calibration | 24.35 RON | [AliExpress](https://www.aliexpress.com/item/32582656795.html?spm=a2g0o.order_list.order_list_main.23.b7a61802PaQuli) |
+| 3S LiPo 11.1V 500mAh battery | Main power source | 85.33 RON | [AliExpress](https://www.aliexpress.com/item/1005006702079264.html?spm=a2g0o.order_list.order_list_main.29.b7a61802PaQuli) |
+| Active 5V buzzer | Audio feedback / status signal | 15.72 RON | [AliExpress](https://www.aliexpress.com/item/1005010321957502.html?spm=a2g0o.order_list.order_list_main.35.b7a61802PaQuli) |
+| LM7805 5V regulator module | Logic power regulation | 16.72 RON | [AliExpress](https://www.aliexpress.com/item/1005005382976127.html?spm=a2g0o.order_list.order_list_main.41.b7a61802PaQuli) |
+| 3S LiPo balance charger | Battery charging | 28.24 RON | [AliExpress](https://www.aliexpress.com/item/1005007620618797.html?spm=a2g0o.order_list.order_list_main.47.b7a61802PaQuli) |
+| ON/OFF switch | Main power control | 21.29 RON | [AliExpress](https://www.aliexpress.com/item/1005009232308550.html?spm=a2g0o.order_list.order_list_main.53.b7a61802PaQuli) |
+| Screws, nuts, spacers | Mechanical mounting | TBD | link_to_be_added |
+
+## Software
+
+
+
+## Links
+
+

From 0197b1b210ce1c1e323ca1493e9ae229ac13850d Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Tue, 28 Apr 2026 01:01:54 +0300
Subject: [PATCH 02/10] Added title

---
 .../version-acs_cc/project/2026/ana_maria.lupu1304/index.md     | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 060b9e9bc1d..10f77b45541 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -1,3 +1,4 @@
+# Self-Balancing Cube
 
 A self-balancing cube controlled by an STM32 microcontroller, using IMU feedback and internal reaction wheels to balance on an edge or corner.
 
@@ -102,4 +103,3 @@ The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU f
 
 ## Links
 
-

From 7b0488d041b4182cbb78d540c8cab6145c6ea9cb Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Tue, 28 Apr 2026 12:30:55 +0300
Subject: [PATCH 03/10] Final

---
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 .../images/diagram.svg:Zone.Identifier        | Bin 0 -> 25 bytes
 .../project/2026/ana_maria.lupu1304/index.md  |  38 +++++-------------
 3 files changed, 13 insertions(+), 29 deletions(-)
 create mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
 create mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
new file mode 100644
index 00000000000..5978504e79e
--- /dev/null
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
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diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier
new file mode 100644
index 0000000000000000000000000000000000000000..d6c1ec682968c796b9f5e9e080cc6f674b57c766
GIT binary patch
literal 25
dcma!!%Fjy;DN4*MPD?F{<>dl#JyUFr831@K2x<TT

literal 0
HcmV?d00001

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 10f77b45541..2b338b763b3 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -2,8 +2,14 @@
 
 A self-balancing cube controlled by an STM32 microcontroller, using IMU feedback and internal reaction wheels to balance on an edge or corner.
 
-Author: Ana-Maria-Raluca Lupu
-GitHub Project Link: https://github.com/UPB-PMRust-Students/acs-project-2026-lupuana
+:::info 
+
+**Author**: Ana-Maria-Raluca Lupu \
+**GitHub Project Link**: [link_to_github](https://github.com/UPB-PMRust-Students/acs-project-2026-lupuana)
+
+:::
+
+<!-- do not delete the \ after your name -->
 
 ## Description
 
@@ -39,39 +45,13 @@ The main architecture components of the project are:
 
 ### Architecture Diagram
 
-    +-------------------+
-    |   MPU6050 IMU     |
-    +-------------------+
-              |
-              v
-    +-------------------+
-    |  STM32 Firmware   |
-    | - sensor reading  |
-    | - filtering       |
-    | - control loop    |
-    | - calibration     |
-    +-------------------+
-         |        |
-         |        +------------------+
-         v                           v
-    +-----------+              +-------------+
-    |  Motors   |              |  HC-05 BT   |
-    | + wheels  |              | tuning link |
-    +-----------+              +-------------+
-         |
-         v
-    +-------------------+
-    |  Cube balancing   |
-    +-------------------+
+  ![Architecture diagram](./images/diagram.svg)
 
 ## Log
 
 ### Weak 14 - 29 April
 
 - Finalized project theme and received approval.
-
-### Week 13 - 19 May
-
 - Researched and ordered components.
 
 ## Hardware

From 223013e3707d2a093c1ae90ca1006c3d485ba7e7 Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Tue, 28 Apr 2026 12:34:03 +0300
Subject: [PATCH 04/10] Final

---
 .../images/diagram.svg:Zone.Identifier             | Bin 25 -> 0 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)
 delete mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg:Zone.Identifier
deleted file mode 100644
index d6c1ec682968c796b9f5e9e080cc6f674b57c766..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

literal 25
dcma!!%Fjy;DN4*MPD?F{<>dl#JyUFr831@K2x<TT


From e7dcd2e8f20cd3e36e92ccf4f5535a2d98551ade Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Tue, 28 Apr 2026 19:25:00 +0300
Subject: [PATCH 05/10] Fixed image

---
 .../2026/ana_maria.lupu1304/images/diagram.svg   |   4 ----
 .../2026/ana_maria.lupu1304/images/diagram.webp  | Bin 0 -> 7518 bytes
 .../project/2026/ana_maria.lupu1304/index.md     |   2 +-
 3 files changed, 1 insertion(+), 5 deletions(-)
 delete mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
 create mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.webp

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
deleted file mode 100644
index 5978504e79e..00000000000
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.svg
+++ /dev/null
@@ -1,4 +0,0 @@
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diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 2b338b763b3..53b25fe1fc6 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -45,7 +45,7 @@ The main architecture components of the project are:
 
 ### Architecture Diagram
 
-  ![Architecture diagram](./images/diagram.svg)
+  ![Architecture diagram](./images/diagram.webp)
 
 ## Log
 

From 5d2da315c85dc80d42aa2b4a1270e83ceaf7fb67 Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Sat, 2 May 2026 01:03:45 +0300
Subject: [PATCH 06/10] New Diagram

---
 .../ana_maria.lupu1304/images/diagram.webp    | Bin 7518 -> 0 bytes
 .../project/2026/ana_maria.lupu1304/index.md  |  58 ++++++++++++++++--
 2 files changed, 53 insertions(+), 5 deletions(-)
 delete mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.webp

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.webp b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/diagram.webp
deleted file mode 100644
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diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 53b25fe1fc6..229d813e664 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -2,10 +2,10 @@
 
 A self-balancing cube controlled by an STM32 microcontroller, using IMU feedback and internal reaction wheels to balance on an edge or corner.
 
-:::info 
+:::info
 
 **Author**: Ana-Maria-Raluca Lupu \
-**GitHub Project Link**: [link_to_github](https://github.com/UPB-PMRust-Students/acs-project-2026-lupuana)
+**GitHub Project Link**: [acs-project-2026-lupuana](https://github.com/UPB-PMRust-Students/acs-project-2026-lupuana)
 
 :::
 
@@ -41,11 +41,59 @@ The main architecture components of the project are:
 - **Power layer**  
   Supplies the motors directly from the battery and powers the logic through a regulated 5V rail.
 
-
-
 ### Architecture Diagram
 
-  ![Architecture diagram](./images/diagram.webp)
+```mermaid
+flowchart LR
+    subgraph PWR["Power Layer"]
+        BATT["3S LiPo Battery 11.1V, 500mAh"]
+        REG["5V Regulator"]
+        BUZ["5V Buzzer"]
+    end
+
+    subgraph SENS["Sensing Layer"]
+        IMU["MPU6050 IMU"]
+    end
+
+    subgraph PROC["Processing and Control"]
+        STM["STM32 Microcontroller"]
+        STATE["State Estimation"]
+        CTRL["Control Algorithm"]
+        CAL["Calibration and Parameter Tuning"]
+    end
+
+    subgraph COMM["Communication Layer"]
+        BT["HC-05 Bluetooth Module"]
+        USER["User / Serial Commands"]
+    end
+
+    subgraph ACT["Actuation Layer"]
+        MOT["3x Brushless Motors / Reaction Wheels"]
+    end
+
+    subgraph PHY["Physical System"]
+        CUBE["Self-Balancing Cube"]
+    end
+
+    IMU -->|Motion data| STM
+    STM --> STATE
+    STATE --> CTRL
+    CTRL -->|Motor commands| MOT
+    MOT -->|Stabilizing torque| CUBE
+    CUBE -->|Motion/orientation changes| IMU
+
+    USER -->|Bluetooth commands| BT
+    BT --> CAL
+    CAL --> STM
+
+    BATT -->|11.1V| MOT
+    BATT --> REG
+    REG -->|5V| STM
+    REG -->|5V| IMU
+    REG -->|5V| BT
+    REG -->|5V| BUZ
+
+```
 
 ## Log
 

From d6f948319fd68f38f227012799d206311adaebe4 Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Wed, 13 May 2026 13:53:05 +0300
Subject: [PATCH 07/10] Added schematics

---
 .../ana_maria.lupu1304/images/schematic.webp    | Bin 0 -> 84426 bytes
 .../project/2026/ana_maria.lupu1304/index.md    |  16 +++++++++++-----
 2 files changed, 11 insertions(+), 5 deletions(-)
 create mode 100644 website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/schematic.webp

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/schematic.webp b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/schematic.webp
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diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 229d813e664..ce3126b96be 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -97,18 +97,27 @@ flowchart LR
 
 ## Log
 
-### Weak 14 - 29 April
+### Week 14 - 29 April
 
 - Finalized project theme and received approval.
 - Researched and ordered components.
 
+### Week 4 - 10 May
+
+- Components arrived
+
+### Week 11 - 17 May
+
+- Tested components separately
+- Started assembling the project
+
 ## Hardware
 
 The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU for motion sensing, three brushless motors with encoders for the reaction wheels, a 3S LiPo battery for power, a 5V regulator for the logic section, a Bluetooth module for tuning, and a buzzer for status feedback.
 
 ## Schematics
 
-
+![Schematics](./images/schematic.webp)
 
 ## Bill of Materials
 
@@ -128,6 +137,3 @@ The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU f
 ## Software
 
 
-
-## Links
-

From ee5aa6a501bfcaac6b2b2dfe0b827f34d511a3ce Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Wed, 13 May 2026 13:59:57 +0300
Subject: [PATCH 08/10] Updated schematics image

---
 .../ana_maria.lupu1304/images/schematic.webp  | Bin 84426 -> 30952 bytes
 1 file changed, 0 insertions(+), 0 deletions(-)

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/schematic.webp b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/images/schematic.webp
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From 1a0022a34df41f9ef1d46425024a098e3ccbe0c2 Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Wed, 13 May 2026 18:35:33 +0300
Subject: [PATCH 09/10] Milestone 2

---
 .../version-acs_cc/project/2026/ana_maria.lupu1304/index.md    | 3 ---
 1 file changed, 3 deletions(-)

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index ce3126b96be..780bd3b05c9 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -132,8 +132,5 @@ The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU f
 | LM7805 5V regulator module | Logic power regulation | 16.72 RON | [AliExpress](https://www.aliexpress.com/item/1005005382976127.html?spm=a2g0o.order_list.order_list_main.41.b7a61802PaQuli) |
 | 3S LiPo balance charger | Battery charging | 28.24 RON | [AliExpress](https://www.aliexpress.com/item/1005007620618797.html?spm=a2g0o.order_list.order_list_main.47.b7a61802PaQuli) |
 | ON/OFF switch | Main power control | 21.29 RON | [AliExpress](https://www.aliexpress.com/item/1005009232308550.html?spm=a2g0o.order_list.order_list_main.53.b7a61802PaQuli) |
-| Screws, nuts, spacers | Mechanical mounting | TBD | link_to_be_added |
 
 ## Software
-
-

From e40cf7e24d75f9065ded2f353b8a27c45e16af5d Mon Sep 17 00:00:00 2001
From: Ana-Maria-Raluca Lupu <lupuana1304@gmail.com>
Date: Wed, 20 May 2026 15:29:04 +0300
Subject: [PATCH 10/10] Added software

---
 .../project/2026/ana_maria.lupu1304/index.md  | 76 +++++++++++--------
 1 file changed, 45 insertions(+), 31 deletions(-)

diff --git a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
index 780bd3b05c9..413bb3351cd 100644
--- a/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
+++ b/website/versioned_docs/version-acs_cc/project/2026/ana_maria.lupu1304/index.md
@@ -24,35 +24,27 @@ I chose this project because it combines embedded programming, control systems,
 The main architecture components of the project are:
 
 - **Sensing layer**  
-  Reads acceleration and angular velocity data from the IMU.
+  Reads acceleration and angular velocity data from the MPU6050 IMU and, in the final system, wheel-speed feedback from the motor encoder signals.
 
 - **State estimation layer**  
-  Processes raw IMU data and computes the current orientation and angular motion of the cube.
+  Processes raw sensor data and computes the current orientation and angular motion of the cube.
 
 - **Control layer**  
-  Runs the balancing algorithm and computes correction values for each axis.
+  Runs the balancing algorithm and computes correction commands for each reaction-wheel axis.
 
 - **Actuation layer**  
-  Sends control signals to the three reaction-wheel motors.
+  Sends PWM and direction control signals to the three Nidec reaction-wheel motors.
 
 - **Communication and tuning layer**  
-  Allows calibration and parameter adjustment through a Bluetooth serial connection.
-
-- **Power layer**  
-  Supplies the motors directly from the battery and powers the logic through a regulated 5V rail.
+  Supports calibration and parameter adjustment, initially through USB/debug output during development and later through a Bluetooth serial connection using the HC-05 module.
 
 ### Architecture Diagram
 
 ```mermaid
 flowchart LR
-    subgraph PWR["Power Layer"]
-        BATT["3S LiPo Battery 11.1V, 500mAh"]
-        REG["5V Regulator"]
-        BUZ["5V Buzzer"]
-    end
-
     subgraph SENS["Sensing Layer"]
         IMU["MPU6050 IMU"]
+        ENC["Motor Feedback / Encoders"]
     end
 
     subgraph PROC["Processing and Control"]
@@ -75,45 +67,55 @@ flowchart LR
         CUBE["Self-Balancing Cube"]
     end
 
-    IMU -->|Motion data| STM
+    IMU -->|Acceleration and angular velocity| STM
+    ENC -->|Wheel speed feedback| STM
+
     STM --> STATE
     STATE --> CTRL
-    CTRL -->|Motor commands| MOT
+    CTRL -->|PWM and direction commands| MOT
+
     MOT -->|Stabilizing torque| CUBE
-    CUBE -->|Motion/orientation changes| IMU
+    CUBE -->|Motion / orientation changes| IMU
 
-    USER -->|Bluetooth commands| BT
+    MOT -->|Rotation feedback| ENC
+
+    USER -->|Calibration and tuning commands| BT
     BT --> CAL
     CAL --> STM
 
-    BATT -->|11.1V| MOT
-    BATT --> REG
-    REG -->|5V| STM
-    REG -->|5V| IMU
-    REG -->|5V| BT
-    REG -->|5V| BUZ
-
 ```
 
 ## Log
 
 ### Week 14 - 29 April
 
-- Finalized project theme and received approval.
-- Researched and ordered components.
+- Finalized the project theme and received approval.
+- Researched the reference project, selected the main components, and placed the orders.
 
 ### Week 4 - 10 May
 
-- Components arrived
+- Received the ordered components.
+- Reviewed the hardware setup.
 
 ### Week 11 - 17 May
 
-- Tested components separately
-- Started assembling the project
+- Set up the Rust embedded project.
+- Verified firmware flashing and debugging on the STM32 board.
+- Tested one Nidec motor in both rotation directions using PWM and direction control.
+- Tested the MPU6050 IMU over I2C and verified gyroscope and accelerometer readings.
+- Implemented initial tilt estimation tests using roll and pitch angles.
+- Started integrating IMU input with motor response.
+
+### Week 18 - 24 May
+
+- Continue hardware integration of sensing and actuation.
+- Investigate encoder feedback from the motors.
+- Refine motor control behavior for smoother directional changes.
+- Continue toward full cube assembly, calibration, and balancing experiments.
 
 ## Hardware
 
-The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU for motion sensing, three brushless motors with encoders for the reaction wheels, a 3S LiPo battery for power, a 5V regulator for the logic section, a Bluetooth module for tuning, and a buzzer for status feedback.
+The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU for motion sensing, and three Nidec brushless motors used as reaction wheels. The motors include feedback lines that are intended to be used for wheel-speed sensing during control. A Bluetooth module is planned for calibration and parameter tuning, while a buzzer will provide status feedback.
 
 ## Schematics
 
@@ -134,3 +136,15 @@ The hardware platform is built around an STM32 microcontroller, an MPU6050 IMU f
 | ON/OFF switch | Main power control | 21.29 RON | [AliExpress](https://www.aliexpress.com/item/1005009232308550.html?spm=a2g0o.order_list.order_list_main.53.b7a61802PaQuli) |
 
 ## Software
+
+| Library | Description | Usage |
+|---|---|---|
+| `embassy-stm32` | STM32 hardware abstraction layer for the Embassy ecosystem | Used for GPIO control, I2C communication with the MPU6050, UART/Bluetooth communication, timers, PWM generation, and encoder input handling |
+| `embassy-executor` | Async task executor for embedded systems | Runs the main firmware tasks and coordinates sensing, control, communication, and actuation logic |
+| `embassy-time` | Timing and delay utilities | Used for periodic sensor sampling, control-loop timing, calibration delays, and scheduled motor updates |
+| `libm` | Mathematical functions for `no_std` environments | Used for trigonometric and square-root operations in orientation estimation and tilt-angle computation |
+| `defmt` | Lightweight embedded logging framework | Used for runtime diagnostics, sensor debugging, motor-control validation, and calibration feedback |
+| `defmt-rtt` | RTT transport backend for `defmt` logs | Sends debug messages from the STM32 board to the development PC through the ST-LINK interface |
+| `panic-probe` | Panic handler for embedded Rust applications | Provides useful crash information during firmware debugging |
+| `cortex-m` | Low-level ARM Cortex-M support crate | Provides architecture-specific utilities and interrupt-safe embedded primitives |
+| `cortex-m-rt` | Runtime support for Cortex-M microcontrollers | Defines startup behavior and memory initialization for the STM32 firmware |