From f651104c02d8277ce67b73de0f01ebf7d3c196da Mon Sep 17 00:00:00 2001 From: horatiu Date: Fri, 10 Apr 2026 14:59:41 +0300 Subject: [PATCH 1/7] first_comm --- .../project/2026/horatiu.oprea/index.md | 75 +++++++++++++++++++ 1 file changed, 75 insertions(+) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md new file mode 100644 index 00000000000..e409469f7c1 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md @@ -0,0 +1,75 @@ +# Project Name +A one line project description + +:::info + +**Author**: Student Name \ +**GitHub Project Link**: link_to_github + +::: + + + +## Description + +Describe in a few words your project idea. + +## Motivation + +Why did you choose this project? + +## 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 2eaa23a4c7e4023837d45753c832c316972f4f65 Mon Sep 17 00:00:00 2001 From: "github-classroom[bot]" <66690702+github-classroom[bot]@users.noreply.github.com> Date: Mon, 13 Apr 2026 11:54:31 +0000 Subject: [PATCH 2/7] add deadline --- README.md | 1 + 1 file changed, 1 insertion(+) create mode 100644 README.md diff --git a/README.md b/README.md new file mode 100644 index 00000000000..5f026cf1879 --- /dev/null +++ b/README.md @@ -0,0 +1 @@ +[![Review Assignment Due Date](https://classroom.github.com/assets/deadline-readme-button-22041afd0340ce965d47ae6ef1cefeee28c7c493a6346c4f15d667ab976d596c.svg)](https://classroom.github.com/a/yNS7YZsE) From 5a0e03d9a03c5fe8951d371252b394feee1a53f7 Mon Sep 17 00:00:00 2001 From: horatiu Date: Mon, 13 Apr 2026 15:44:09 +0300 Subject: [PATCH 3/7] Asign Repo --- .../version-acs_cc/project/2026/horatiu.oprea/index.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md index e409469f7c1..9c00529fa1e 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md @@ -1,5 +1,5 @@ # Project Name -A one line project description +Salut, sunt Horatiu! :::info From b2a9621a0a7896622164976beb487b9394133591 Mon Sep 17 00:00:00 2001 From: horatiu Date: Sun, 26 Apr 2026 18:05:07 +0300 Subject: [PATCH 4/7] Project documentation starter --- .../project/2026/horatiu.oprea/index.md | 102 +++++++++++------- 1 file changed, 66 insertions(+), 36 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md index 9c00529fa1e..ef40d0c16a0 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md @@ -1,32 +1,54 @@ -# Project Name -Salut, sunt Horatiu! +# Ping-Pong Ball Levitation — Wind Tube PID Controller -:::info +:::info -**Author**: Student Name \ -**GitHub Project Link**: link_to_github +**Author**: Oprea Horatiu Alexandru \ +**GitHub Project Link**: https://github.com/horatiuoprea/website.git ::: - - ## Description -Describe in a few words your project idea. +The project maintains a Ping-Pong ball at a desired height inside a vertical wind tube. A laser distance sensor mounted at the top of the tube continuously measures the position of the ball. This measurement is fed into a PID regulator running on an STM32 microcontroller, which adjusts the speed of a propeller fan at the base of the tube to keep the ball stable at the target height. + +The system supports two interaction modes. In **Auto mode**, the user sets the desired height via a dedicated potentiometer, and the PID controller autonomously stabilizes the ball at that height. In **Manual mode**, the user can adjust the three PID constants (Kp, Ki, Kd) individually using separate potentiometers, observing in real time how each parameter affects the system's behavior. An LCD display shows the current height and, depending on the active mode, the target height or the current PID constant values. ## Motivation -Why did you choose this project? +Embedded systems and control theory are two domains I wanted to explore simultaneously in a hands-on project. A wind tube ball levitation system is a classic control engineering problem that is visually intuitive, physically tangible, and technically rich. It requires real sensor integration, PWM motor control, I2C communication, and a properly tuned closed-loop PID controller — all implemented in Rust using the Embassy async framework on an STM32 microcontroller. The manual mode adds an educational dimension, allowing direct observation of how each PID term influences system stability, which reinforces the theoretical concepts from control systems courses. -## Architecture +## 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 +The system is structured around four main architectural components that form a closed control loop: -## Log +**Sensor** — The VL53L0X laser Time-of-Flight sensor is mounted at the top of the tube and measures the distance to the ball via I2C. This gives the current height y(t). + +**Controller** — The STM32 Nucleo-U545RE-Q runs the PID algorithm in an Embassy async task at a fixed 20ms cycle. It reads the current height from the sensor, computes the error relative to the target, and produces a control output u(t) in the range 0–100%. + +**Actuator** — The Delta PFB0412EN-E fan receives a PWM signal at 25kHz directly on its dedicated blue wire. The duty cycle of this signal determines the fan speed, which controls the airflow and thus the ball's position. + +**User Interface** — Four potentiometers provide analog inputs via ADC: one sets the target height, and three adjust Kp, Ki, Kd in Manual mode. A 1602 I2C LCD displays system state. A toggle switch selects between Auto and Manual mode. + +``` +┌─────────────────────────────────────────────────────────┐ +│ CLOSED CONTROL LOOP │ +│ │ +│ [Potentiometer] ──► target r(t) │ +│ │ │ +│ (+)──► [PID / STM32] ──► [PWM] │ +│ (-) │ │ +│ │ ▼ │ +│ │ [Fan 12V] │ +│ │ │ │ +│ │ [Wind Tube] │ +│ │ │ │ +│ └──[VL53L0X]◄── ball y(t) │ +│ │ +│ [LCD] ◄── STM32 (displays height + PID constants) │ +└─────────────────────────────────────────────────────────┘ +``` - +## Log ### Week 5 - 11 May @@ -36,40 +58,48 @@ Add here the schematics with the architecture of your project. Make sure to incl ## Hardware -Detail in a few words the hardware used. +The project uses an STM32 Nucleo-U545RE-Q (Cortex-M33) as the main microcontroller, programmed in Rust with the Embassy async framework. The VL53L0X laser ToF sensor communicates over I2C and provides distance measurements with millimeter precision. The Delta PFB0412EN-E axial fan (40x40x28mm, 12V) features a native PWM control input, allowing direct speed control from the STM32 without a MOSFET driver stage. Four 10kΩ potentiometers provide analog inputs for height target and PID tuning. A 1602 LCD with I2C backpack shares the I2C bus with the sensor. A toggle switch selects the operating mode. The fan is powered by a dedicated 12V DC adapter; the STM32 and all logic components are powered via USB (5V), with the onboard regulator supplying 3.3V to the sensor and potentiometers. All grounds are tied to a common reference on the breadboard. ### Schematics -Place your KiCAD or similar schematics here in SVG format. +_KiCad schematic to be added 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) | - +| [STM32 Nucleo-U545RE-Q](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) | Main microcontroller — runs PID algorithm in Rust/Embassy | already owned | +| [VL53L0X Laser ToF Sensor](https://www.optimusdigital.ro/ro/senzori-senzori-de-distanta/3309-modul-senzor-de-distanta-cu-laser-vl53l0x.html) | Measures ball height inside the tube via I2C | [25 RON](https://www.optimusdigital.ro) | +| [Delta PFB0412EN-E Fan 12V](https://www.digikey.com) | Propeller fan — controls airflow in the tube via PWM | already owned | +| [LCD 1602 I2C](https://www.optimusdigital.ro/ro/optoelectronice-lcd-uri/2894-lcd-cu-interfata-i2c-si-backlight-albastru.html) | Displays current height and PID constants | [15 RON](https://www.optimusdigital.ro) | +| Potentiometer 10kΩ (x4) | Height target (x1) + Kp, Ki, Kd tuning (x3) | [5 RON x4](https://www.optimusdigital.ro) | +| Toggle Switch | Selects Auto / Manual operating mode | [3 RON](https://www.optimusdigital.ro) | +| Breadboard MB102 + YuRobot power module | Prototyping platform with integrated power supply | [20 RON](https://www.optimusdigital.ro) | +| DC Jack Module 5.5x2.1mm (breadboard) | Connects 12V adapter to breadboard for fan power | [7 RON](https://www.optimusdigital.ro) | +| Resistor 100Ω | Protects STM32 PWM pin from fan input impedance | [1 RON](https://www.optimusdigital.ro) | +| Jumper Wire Kit (120 pcs) | All signal and power connections on breadboard | [15 RON](https://www.optimusdigital.ro) | +| 12V 1A DC Adapter | Powers the fan independently from STM32 logic | [25 RON](https://www.optimusdigital.ro) | +| PVC Tube 40-45mm inner diameter, ~80cm | Wind tube housing for the ball | [12 RON](https://www.dedeman.ro) | +| Digital Multimeter | Verifying voltages and connections during assembly | [50 RON](https://www.optimusdigital.ro) | ## 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 STM32 microcontrollers | Peripheral access: PWM, I2C, ADC, GPIO | +| [embassy-executor](https://github.com/embassy-rs/embassy) | Async task executor for embedded systems | Runs sensor, control and display tasks concurrently | +| [embassy-time](https://github.com/embassy-rs/embassy) | Timers and delays for Embassy | Fixed 20ms control loop timing | +| [vl53l0x](https://crates.io/crates/vl53l0x) | Driver for VL53L0X ToF sensor | Reads ball distance over I2C | +| [hd44780-driver](https://crates.io/crates/hd44780-driver) | Driver for HD44780-based LCD displays | Renders height and PID values on 1602 LCD | +| [defmt](https://github.com/knurling-rs/defmt) | Efficient logging framework for embedded Rust | Debug output during development via RTT | +| [defmt-rtt](https://github.com/knurling-rs/defmt) | RTT transport for defmt | Sends log messages to host over USB | +| [panic-probe](https://github.com/knurling-rs/panic-probe) | Panic handler for embedded Rust | Reports panics via defmt | ## Links - - -1. [link](https://example.com) -2. [link](https://example3.com) -... +1. [Embassy — Async framework for embedded Rust](https://embassy.dev) +2. [VL53L0X — STMicroelectronics ToF sensor datasheet](https://www.st.com/resource/en/datasheet/vl53l0x.pdf) +3. [Delta PFB0412EN-E — Fan datasheet](https://www.delta-fan.com) +4. [PID Controller — Wikipedia](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller) +5. [Ball in tube levitation — reference project](https://example.com) +6. [STM32U5 Reference Manual](https://www.st.com/resource/en/reference_manual/rm0456-stm32u5-series-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) From ebeed6563f82911033b696944e4194b5a87d5b39 Mon Sep 17 00:00:00 2001 From: horatiu Date: Mon, 27 Apr 2026 21:16:04 +0300 Subject: [PATCH 5/7] Documentatie --- .../horatiu.oprea/Documentatie.drawio.svg | 4 ++++ .../project/2026/horatiu.oprea/index.md | 23 ++++--------------- 2 files changed, 9 insertions(+), 18 deletions(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Documentatie.drawio.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Documentatie.drawio.svg b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Documentatie.drawio.svg new file mode 100644 index 00000000000..3e0c46b23e2 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Documentatie.drawio.svg @@ -0,0 +1,4 @@ + + + +
Potentiometru
Target r(t)
ADC (PA3)
Eroare
e = r(t) - y(t)
PID Controller
(STM32)
PWM (PA6)
REZISTOR 100Ω
Ventilator 12V
Proces fizic P(s)
Mingea se mișcă
VL53L0X
y(t)
1. Citește senzor
2. Citește potențiometru
3. Calculează eroare
4. PID
5. PWM → Ventilator
 \ No newline at end of file diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md index ef40d0c16a0..440061b4acb 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md @@ -3,6 +3,7 @@ :::info **Author**: Oprea Horatiu Alexandru \ +**Group**: 332CC \ **GitHub Project Link**: https://github.com/horatiuoprea/website.git ::: @@ -29,24 +30,9 @@ The system is structured around four main architectural components that form a c **User Interface** — Four potentiometers provide analog inputs via ADC: one sets the target height, and three adjust Kp, Ki, Kd in Manual mode. A 1602 I2C LCD displays system state. A toggle switch selects between Auto and Manual mode. -``` -┌─────────────────────────────────────────────────────────┐ -│ CLOSED CONTROL LOOP │ -│ │ -│ [Potentiometer] ──► target r(t) │ -│ │ │ -│ (+)──► [PID / STM32] ──► [PWM] │ -│ (-) │ │ -│ │ ▼ │ -│ │ [Fan 12V] │ -│ │ │ │ -│ │ [Wind Tube] │ -│ │ │ │ -│ └──[VL53L0X]◄── ball y(t) │ -│ │ -│ [LCD] ◄── STM32 (displays height + PID constants) │ -└─────────────────────────────────────────────────────────┘ -``` +## Closed Control Loop + +![Closed Loop Diagram](Documentatie.drawio.svg) ## Log @@ -103,3 +89,4 @@ _KiCad schematic to be added here in SVG format._ 4. [PID Controller — Wikipedia](https://en.wikipedia.org/wiki/Proportional%E2%80%93integral%E2%80%93derivative_controller) 5. [Ball in tube levitation — reference project](https://example.com) 6. [STM32U5 Reference Manual](https://www.st.com/resource/en/reference_manual/rm0456-stm32u5-series-advanced-armbased-32bit-mcus-stmicroelectronics.pdf) +7. [Source Code Repository](https://github.com/UPB-PMRust-Students/acs-project-2026-horatiuoprea.git) From 64b0f5b92e59f7e83b27fb83d3d7494f5a8aa29d Mon Sep 17 00:00:00 2001 From: horatiu Date: Sun, 17 May 2026 18:54:17 +0300 Subject: [PATCH 6/7] Final Documentation --- .../Architecture_Diagram.drawio.svg | 4 ++ .../project/2026/horatiu.oprea/image.png | Bin 0 -> 73802 bytes .../project/2026/horatiu.oprea/index.md | 38 +++++++++++++----- 3 files changed, 31 insertions(+), 11 deletions(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Architecture_Diagram.drawio.svg create mode 100644 website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/image.png diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Architecture_Diagram.drawio.svg b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Architecture_Diagram.drawio.svg new file mode 100644 index 00000000000..689fafb937b --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Architecture_Diagram.drawio.svg @@ -0,0 +1,4 @@ + + + +
Breadboard
Breadboard
STM32
STM32
LCD
LCD
Propeller
Engine
Propeller...
Wind Tube
Wind Tube
Distance Sensor
Distance Sens...
5V
5V
3V3
3V3
Ping-Pong
Ball
Ping-Pong...
5V
5V
3V3
3V3
12V Adaptor
12V Adaptor
Potentiometer
Height
Potentiometer...
Potentiometer
Ki
Potentiometer...
Potentiometer
Kd
Potentiometer...
Potentiometer
Kp
Potentiometer...
Switch
Switch
Out
Out
Out
Out
Out
Out
Out
Out
Out
Out
3V3
3V3
3V3
3V3
3V3
3V3
SPI
SPI
I2C
I2C
3V3
3V3
PWM
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z>tV2*<%L|{XaGIHE)dag?TYC*Wo}m(y^JV3QET?r46ofbGFD=EwjieaR_)otLz#P? z&)v9@RHw#y;r(Ej>>yqNqrU(cwr9>F#r`a!qN3M)@>t3GAO;3c2-mQS`1{;V$S+nWGkJ_7d3K;LoqNBv$+v*uw)w^a# z*n3OYs4x=`ElgQ<6$GAdy;1nQwE#a?Ofi%S<=~xwNLADn`iYOA9rd!~my?-yklEQY z%77hT#J6%hRd#U~bh;uqcKLP)1$R{wA$j$54mUlzM}73)ggm*>leqTGy_4DCeh(br`FoOEtq^(8_U8TO*HbG1HZhzwH7vd@gm`*ZY zR`R|W(q&YpUp-m>UVH(goLG=DS*9jw^Oj}t1^Jlzok_Pc2`{jL3rAHOWbxS(DdWj29l zd!5r!eEAi%B!uVNcGNb}BEIYB7~8>*BvzdbwhxsHsepikP|m$cSwGw!!GO29%fC3;jKi35oYKm44C zc;!VJDiO$ zT$HOie=$LZ;9y8cJg3r04D7?=+PYc}<5AgkuyHZTf?u@hwzBB2#u)yTpgfPUkc*Go zF1B*#TOMdq9XZiZSU6%TDLr~#2lPF Date: Thu, 21 May 2026 12:41:56 +0300 Subject: [PATCH 7/7] Rezolvare Conflicte --- .../project/2026/horatiu.oprea/Diagrama_Kicad.drawio.svg | 4 ++++ .../version-acs_cc/project/2026/horatiu.oprea/index.md | 2 +- 2 files changed, 5 insertions(+), 1 deletion(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Diagrama_Kicad.drawio.svg diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Diagrama_Kicad.drawio.svg b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Diagrama_Kicad.drawio.svg new file mode 100644 index 00000000000..91985105f17 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/Diagrama_Kicad.drawio.svg @@ -0,0 +1,4 @@ + + + + \ No newline at end of file diff --git a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md index 221ad905bb0..e4975d9b4e3 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/horatiu.oprea/index.md @@ -60,7 +60,7 @@ The project uses an STM32 Nucleo-U545RE-Q (Cortex-M33) as the main microcontroll ### Schematics -![alt text](image.png) +![alt text](Diagrama_Kicad.drawio.svg) ### Bill of Materials