Project/agherghiceanu

website/versioned_docs/version-acs_cc/project/2026/agherghiceanu/index.md

@@ -70,10 +70,18 @@ Started writing the documentation and modifying the source chasis to fit my comp
 
 ### Week 5 - 11 May
 
+
+Finalized source chasis and printed the first version in order to start test-fitting components.
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 ### Week 12 - 18 May
 
+Tested all individual components, finalized the second version of the chasis and started writing the software required to run the robot.
+
 ### Week 19 - 25 May
 
+Completed and uploaded the main portion of the software, with only minor addition left if time allows. Also performed first complete assembly to confirm everything fits correctly.
+
+
 ## Hardware
 
 The main brain of the project is the STM32 Nucleo-U545RE-Q microcontroller provided by the PM team. This takes the input from the HM-10 Bluetooth module and processes it into a signal the i2c controller can then give to the PCA9685 Servo Driver. From there, the signal is passed on to the 8 servomotors that power our robot spider, 2 in each leg. The system is powered by a 1000mAh 7.4v LiPo 2 cell batery and will be built on a modified version of the chasis of the Sesame spider-robot linked in the link section.   
@@ -114,12 +122,17 @@ The format is
 
 
 
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 ## Software
 
-| Library | Description | Usage |
+| Library / Tool | Description | Usage |
 |---------|-------------|-------|
-| [st7789](https://github.com/almindor/st7789) | Display driver for ST7789 | Used for the display for the Pico Explorer Base |
+| [embassy-stm32](https://github.com/embassy-rs/embassy) | STM32 Hardware Abstraction Layer | Used to control the Nucleo board's pins, allowing the microcontroller to talk to the PCA9685 driver via I2C and to the HM-10 Bluetooth module via UART. |
+| [embassy-executor](https://github.com/embassy-rs/embassy) | Async executor for embedded devices | Used to run the main loop of the robot, processing incoming Bluetooth commands and updating motor angles smoothly. |
+| [embassy-time](https://github.com/embassy-rs/embassy) | Timekeeping and delay library | Used to create the necessary delays between the robot's animation frames so it walks correctly, and to handle Bluetooth read timeouts. |
+| [defmt](https://github.com/knurling-rs/defmt) & [defmt-rtt](https://github.com/knurling-rs/defmt) | Logging framework and transport | Used to print debugging info and state changes directly to my laptop's terminal to track what the brain is doing. |
+| [panic-probe](https://github.com/knurling-rs/probe-rs) | Panic handler | Used to catch program crashes and print the error backtrace to the terminal, making debugging much easier. |
+| [probe-rs](https://probe.rs/) | Debugging and flashing tool | Used to seamlessly compile, flash, and run the Rust code onto the STM32 board using the simple `cargo run` command. |
+
 
 ## Links