From 547460bbd9e114812cbfc1b7a62dd85938ea011c Mon Sep 17 00:00:00 2001 From: Denis-bit Date: Wed, 29 Apr 2026 14:41:04 +0300 Subject: [PATCH 1/6] added index.md and schematic --- .../denis_dumitru.sarca/images/schematic.svg | 113 ++++++++++++++++++ .../project/2026/denis_dumitru.sarca/index.md | 80 +++++++++++++ 2 files changed, 193 insertions(+) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/schematic.svg create mode 100644 website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/schematic.svg b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/schematic.svg new file mode 100644 index 00000000000..3077cdc10be --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/schematic.svg @@ -0,0 +1,113 @@ + + + + + + + + + + + + Battery Pack + Main supply + + + LM2596 Buck + 5V regulated output + + + + STM32 Nucleo-U545RE-Q + PWM / GPIO / ADC / UART + Rust firmware + Motor + pen + calibration control + + + + PC + Image processing + USB Serial commands + + + + Dual Motor Driver + TB6612FNG / DRV8833 + PWM + DIR inputs + + + + Left + DC Motor + + + Right + DC Motor + + + + SG90 Servo + Pen up / pen down + + + + TCRT5000 x2 + Black border sensors + + + Encoders x2 + Optional feedback + + + + VIN + + + 5V logic / servo / sensors + + + Motor supply + + + USB Serial + + + PWM/DIR + + + + + + PWM + + + Digital input + + + GPIO input + + + + + + Common GND between battery, buck converter, STM32, sensors, servo and motor driver + + + + Canvas + White surface + Black border detected by IR + \ No newline at end of file diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md new file mode 100644 index 00000000000..f47c7898506 --- /dev/null +++ b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md @@ -0,0 +1,80 @@ +# Mobile Drawing Robot with Automatic Canvas Calibration +A mobile drawing robot that reproduces digital images on a physical canvas using automatic border detection. + +:::info + +**Author**: Denis-Dumitru Sarca \ +**Github Project Link**: https://github.com/UPB-PMRust-Students/acs-project-2026-Denis-bit + +::: +## Description + +This project consists of a mobile robot capable of drawing digital images on a physical surface. The robot receives a processed drawing path from a PC and follows the generated trajectory using a differential drive system. +The drawing area is delimited using a black border placed around the canvas. The robot uses IR reflective sensors to detect this border and estimate the available drawing surface. Based on the detected canvas dimensions, the input image is scaled so that it fits inside the physical workspace. +The robot uses two powered wheels for movement and a third caster wheel for mechanical support. A servo motor controls the pen mechanism, allowing the system to lift or lower the pen while following the drawing path. + +## Motivation + +Thought it would be a fun way to start my journey in embedded development. I also find it useful in different scenarios, since it has the automatic drawing surface detection. + +## Architecture +The system is divided into two main parts: the PC application and the embedded firmware running on the STM32 board. +The PC application is responsible for image processing. It loads the input image, converts it into a simplified drawing path and scales the result according to the canvas dimensions detected by the robot. The generated path is then sent to the microcontroller through a USB serial connection. +The STM32 Nucleo-U545RE-Q board receives movement commands and controls the hardware modules. It drives the two DC motors through a motor driver, reads encoder feedback for position estimation, reads the IR sensors for black border detection and controls the servo motor used for lifting and lowering the pen. + +MAIN ARCHITECTURE COMPONENTS: +PC image processing module +USB serial communication module +STM32 command parser +motor control module +encoder feedback module +encoder feedback module +canvas calibration module +pen control module + +## Log + +## Hardware +STM32 Nucleo-U545RE-Q +2 sau 4 motoare DC cu encodere +driver motoare +roti omnidirectionale +roata caster +servo pentru marker +senzori IR pentru detectarea marginii canvasului +baterie +convertor buck + + +### Schematics +![Schematics](./images/schematic.svg) +### Bill of Materials +| [Device](link://to/device) | This is used ... | [price](link://to/store) | + +| [Device](https://sigmanortec.ro/Modul-coborator-tensiune-adjustabil-LM2596-DC-DC-4-5-40V-3A-p134532509) | Used for tension adjustment | [price](6.69ron) | +| [Device](https://sigmanortec.ro/Motor-DC-mini-angrenaje-metal-N20-100RPM-p125711198) | The motors | [price](46 ron) | +| [Device](https://sigmanortec.ro/shield-motoare-pentru-wemos-d1-mini-i2c-dual-motor-tb6612fng) | Motor driver | [price](47 ron) | +| [Device](https://sigmanortec.ro/servomotor-sg90-360-continuu) | Servomotor | [price](13 ron) | +| [Device](https://sigmanortec.ro/Senzor-urmarire-linie-IR-p126025109) | IR sensor | [price](12 ron) | +| [Device](https://sigmanortec.ro/Kit-sasiu-masina-2WD-urmaritor-linie-p172447939) | sasiu + roti | [price](41 ron) | + +## Software +| Library | Description | Usage | +|---------|-------------|-------| +| [embassy-stm32](https://github.com/embassy-rs/embassy) | STM32 hardware abstraction layer from the Embassy framework | Used for GPIO, UART, PWM, timers and ADC configuration | +| [embassy-executor](https://github.com/embassy-rs/embassy) | Async executor for embedded Rust applications | Used for running concurrent firmware tasks | +| [embassy-time](https://github.com/embassy-rs/embassy) | Time utilities for embedded async applications | Used for delays, timeouts and movement timing | +| [embedded-hal](https://github.com/rust-embedded/embedded-hal) | Standard hardware abstraction traits for embedded systems | Used to keep hardware interfaces modular | +| [defmt](https://github.com/knurling-rs/defmt) | Lightweight logging framework for embedded systems | Used for debugging firmware behavior | +| [panic-probe](https://github.com/knurling-rs/probe-run/tree/main/panic-probe) | Panic handler for embedded Rust | Used for debugging runtime errors | +| [heapless](https://github.com/rust-embedded/heapless) | Fixed-capacity data structures without dynamic allocation | Used for command buffers and path data | +| [serde](https://github.com/serde-rs/serde) | Serialization framework | Used for encoding and decoding commands | +| [postcard](https://github.com/jamesmunns/postcard) | Compact binary serialization format for embedded systems | Used for sending drawing commands from the PC to the STM32 | +| [image](https://github.com/image-rs/image) | Image processing library for Rust | Used on the PC side for loading and processing input images | +| [serialport](https://github.com/serialport/serialport-rs) | Cross-platform serial communication library | Used on the PC side for USB serial communication with the robot | +| [clap](https://github.com/clap-rs/clap) | Command-line argument parser | Used on the PC side for configuring image input and serial port | + + + +## Links +https://www.youtube.com/watch?v=_SbTXNRn7qA \ No newline at end of file From 01dc974069685ecc4bed34845f0a734dabdb5a6f Mon Sep 17 00:00:00 2001 From: Denis-bit Date: Wed, 29 Apr 2026 20:40:03 +0300 Subject: [PATCH 2/6] updated index.md --- .../version-acs_cc/project/2026/denis_dumitru.sarca/index.md | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md index f47c7898506..d005e5dc58a 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md @@ -49,9 +49,8 @@ convertor buck ### Schematics ![Schematics](./images/schematic.svg) ### Bill of Materials -| [Device](link://to/device) | This is used ... | [price](link://to/store) | -| [Device](https://sigmanortec.ro/Modul-coborator-tensiune-adjustabil-LM2596-DC-DC-4-5-40V-3A-p134532509) | Used for tension adjustment | [price](6.69ron) | +| [Device](https://sigmanortec.ro/Modul-coborator-tensiune-adjustabil-LM2596-DC-DC-4-5-40V-3A-p134532509) | Used for tension adjustment | [price](7 ron) | | [Device](https://sigmanortec.ro/Motor-DC-mini-angrenaje-metal-N20-100RPM-p125711198) | The motors | [price](46 ron) | | [Device](https://sigmanortec.ro/shield-motoare-pentru-wemos-d1-mini-i2c-dual-motor-tb6612fng) | Motor driver | [price](47 ron) | | [Device](https://sigmanortec.ro/servomotor-sg90-360-continuu) | Servomotor | [price](13 ron) | From 6a3a586021f73130f3c5ac5e17e7b82375c61a45 Mon Sep 17 00:00:00 2001 From: Denis-bit Date: Wed, 13 May 2026 23:03:39 +0300 Subject: [PATCH 3/6] hardware --- .../denis_dumitru.sarca/images/hardware.webp | Bin 0 -> 22426 bytes .../project/2026/denis_dumitru.sarca/index.md | 56 ++++++++++++------ 2 files changed, 39 insertions(+), 17 deletions(-) create mode 100644 website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/hardware.webp diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/hardware.webp b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/hardware.webp new file mode 100644 index 0000000000000000000000000000000000000000..eeb9ab7ce071fdc6a3093cd4595221e6a83c2d18 GIT 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It loads the input image The STM32 Nucleo-U545RE-Q board receives movement commands and controls the hardware modules. It drives the two DC motors through a motor driver, reads encoder feedback for position estimation, reads the IR sensors for black border detection and controls the servo motor used for lifting and lowering the pen. MAIN ARCHITECTURE COMPONENTS: -PC image processing module -USB serial communication module -STM32 command parser -motor control module -encoder feedback module -encoder feedback module -canvas calibration module -pen control module +* PC image processing module +* USB serial communication module +* STM32 command parser +* motor control module +* encoder feedback module +* canvas calibration module +* pen control module ## Log +### Week 6 - 12 April + +* brainstormed the functionality of the robot + +### Week 13 - 19 April + +* made the initial component list and checked compatibility + +### Week 20 - 26 April + +* final component list and placed order + +### Week 27 April - 3 May + +* started to work on the hardware setup + +### Week 4 May - 11 May + +* ordered extra components for added functionality + +### Week 11 - 18 May + + ## Hardware -STM32 Nucleo-U545RE-Q -2 sau 4 motoare DC cu encodere -driver motoare -roti omnidirectionale -roata caster -servo pentru marker -senzori IR pentru detectarea marginii canvasului -baterie -convertor buck +* STM32 Nucleo-U545RE-Q +* 2 motoare DCdriver motoare +* 2 roti +* roata caster +* servo pentru marker +* senzori IR pentru detectarea marginii canvasului +* baterie +* buck converter ### Schematics ![Schematics](./images/schematic.svg) +![Schematics](./images/hardware.webp) ### Bill of Materials | [Device](https://sigmanortec.ro/Modul-coborator-tensiune-adjustabil-LM2596-DC-DC-4-5-40V-3A-p134532509) | Used for tension adjustment | [price](7 ron) | From 76c29235ae29a045b2467a61eff93b4a45746e22 Mon Sep 17 00:00:00 2001 From: Denis-bit Date: Wed, 13 May 2026 23:24:07 +0300 Subject: [PATCH 4/6] hardware_corectat --- .../denis_dumitru.sarca/images/hardware.webp | Bin 22426 -> 17218 bytes 1 file changed, 0 insertions(+), 0 deletions(-) diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/hardware.webp b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/images/hardware.webp 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zpHV7-nu=n*Tkk~t5*?R^LhcFkHwvJJpT&S$Q6n?bLI(+@NOfQ2`Cgu>bAz0^HdJ^L z3n~Ws9J?`x%_W`HUx67Kay>yj606c#P;hYVOPfeW5slv}x;LVt)eu)P_x5LO_GC?x zt;qu`DIPLGi#VoVa&%rM0xHUyAF-l Q##47ryXSxf?*G020sm(Uc>n+a From 38247ca6c2f7c512bbe6b94e2935b50490c884d8 Mon Sep 17 00:00:00 2001 From: Denis-bit Date: Wed, 13 May 2026 23:45:52 +0300 Subject: [PATCH 5/6] hardware acum se vede clar ca nu e generated :)) hardware.webp arata dubios pentru ca nu am gasit toate piesele in Fusion si senzorul IR e putin improvizat pentru a putea face conexiunile. de asemenea multe din acele fire sunt trase la GND, am incercat sa fac schematica cat mai detaliat. 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zwYBQ|IdsLdgyeK}W*`7`qKa`b8rFI2v0XDpro%agBFnDU|?hv0^g&}$iN8E0|0b*!TJCI literal 0 HcmV?d00001 diff --git a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md index e8af0f86685..7eba530452b 100644 --- a/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md +++ b/website/versioned_docs/version-acs_cc/project/2026/denis_dumitru.sarca/index.md @@ -55,6 +55,11 @@ MAIN ARCHITECTURE COMPONENTS: ### Week 11 - 18 May +* final hardware + +### Week 18 - 25 + +* finalized software and full functionality ## Hardware * STM32 Nucleo-U545RE-Q @@ -69,11 +74,10 @@ MAIN ARCHITECTURE COMPONENTS: ### Schematics ![Schematics](./images/schematic.svg) -![Schematics](./images/hardware.webp) +![Schematics](./images/hardware1.webp) ### Bill of Materials | [Device](https://sigmanortec.ro/Modul-coborator-tensiune-adjustabil-LM2596-DC-DC-4-5-40V-3A-p134532509) | Used for tension adjustment | [price](7 ron) | -| [Device](https://sigmanortec.ro/Motor-DC-mini-angrenaje-metal-N20-100RPM-p125711198) | The motors | [price](46 ron) | | [Device](https://sigmanortec.ro/shield-motoare-pentru-wemos-d1-mini-i2c-dual-motor-tb6612fng) | Motor driver | [price](47 ron) | | [Device](https://sigmanortec.ro/servomotor-sg90-360-continuu) | Servomotor | [price](13 ron) | | [Device](https://sigmanortec.ro/Senzor-urmarire-linie-IR-p126025109) | IR sensor | [price](12 ron) | @@ -88,12 +92,10 @@ MAIN ARCHITECTURE COMPONENTS: | [embedded-hal](https://github.com/rust-embedded/embedded-hal) | Standard hardware abstraction traits for embedded systems | Used to keep hardware interfaces modular | | [defmt](https://github.com/knurling-rs/defmt) | Lightweight logging framework for embedded systems | Used for debugging firmware behavior | | [panic-probe](https://github.com/knurling-rs/probe-run/tree/main/panic-probe) | Panic handler for embedded Rust | Used for debugging runtime errors | -| [heapless](https://github.com/rust-embedded/heapless) | Fixed-capacity data structures without dynamic allocation | Used for command buffers and path data | -| [serde](https://github.com/serde-rs/serde) | Serialization framework | Used for encoding and decoding commands | -| [postcard](https://github.com/jamesmunns/postcard) | Compact binary serialization format for embedded systems | Used for sending drawing commands from the PC to the STM32 | -| [image](https://github.com/image-rs/image) | Image processing library for Rust | Used on the PC side for loading and processing input images | -| [serialport](https://github.com/serialport/serialport-rs) | Cross-platform serial communication library | Used on the PC side for USB serial communication with the robot | -| [clap](https://github.com/clap-rs/clap) | Command-line argument parser | Used on the PC side for configuring image input and serial port | +| [opencv-python](https://github.com/opencv/opencv-python) | Computer vision library | Image loading, edge detection, contour extraction | +| [numpy](https://github.com/numpy/numpy) | Numerical computing library | Image array manipulation | +| [pyserial](https://github.com/pyserial/pyserial) | Serial communication library | USB serial communication with STM32 | +