Project/amir.fallah (#1347)

* added initial documentation

* fixed grammar

* added minimal libs and links

* feat: added sch + changed BOM

* fix: changed schematic svg dimensions

* fix: changed schematic svg to webp for minimal size

* feat: added proj pics + gif + update sch

* fix: changed sizes of pics

Author: amir-FM

website/versioned_docs/version-acs_cc/project/2026/amir.fallah/images/profile.webp

@@ -33,12 +33,24 @@ Parts started to arrive. I tested each part individually with some of them not w
 
 ### Week 11 - 15 May
 
-Motors arrived.
+Motors arrived. Started work on the main body of the robot. It was made from acrylic and M4 screws. It was very sturdy and can tolerate the occasional falls from testing.
+
+### Week 18 - 22 May
+
+Motors provided not enough torque, so I was forced to order stronger motors. After this episode the motors started to balance the platforms.
 
 ## Hardware
 
 I am running the robot in a theadered format, for the ease of development, to concentrate my attention on building it, not on changing the battery every 40 minutes.
 
+![Profile View](./images/profile.webp)
+
+![Top View](./images/top.webp)
+
+These are some images with the robot. In the end with the new motors it was 1.1kg in weight and 12cm in height from the bottom of the wheels. The testing was done with a 12V 6A transformer so I could test all day long.
+
+<img src="https://i.imgur.com/NGZJTKO.gif" width="400" alt="Demo" />
+
 ### Schematics
 
 ![Schematic](./images/schematic.webp)
@@ -53,16 +65,21 @@ The schematic does not include the power bus, just the data and commands wires.
 | [MPU6050](https://cdn.sparkfun.com/datasheets/Sensors/Accelerometers/RM-MPU-6000A.pdf) | IMU (Gyroscope + Accelerometer) | [16 RON](https://www.emag.ro/modul-accelerometru-si-giroscop-mpu6050-ai382-s321/pd/DB606JBBM/)
 | [HM-10](https://components101.com/sites/default/files/component_datasheet/HM10%20Bluetooth%20Module%20Datasheet.pdf) | Bluetooth Module | [27 RON](https://www.emag.ro/modul-bluetooth-4-0-ble-at-09-hm-10-msalamon-conectivitate-rapida-mic-si-eficient-ideal-pentru-proiecte-iot-economiseste-energie-fiabil-usor-de-montat-functioneaza-in-diverse-conditii-calitate-inalta-/pd/DHKDDVYBM/) |
 | [LM2596](https://www.ti.com/lit/ds/symlink/lm2596.pdf) | Buck Converter 12V - 5V | [10 RON](https://www.emag.ro/modul-dc-dc-step-down-lm2596-765464701237/pd/DWHHRGBBM/) |
-| [L298N](https://www.st.com/resource/en/datasheet/l298.pdf) | Dual Motor Driver | [10 RON](https://www.optimusdigital.ro/en/brushed-motor-drivers/145-l298n-dual-motor-driver.html?search_query=L298N&results=3&HTTP_REFERER=https%3A%2F%2Fwww.optimusdigital.ro%2Fen%2Fsearch%3Fcontroller%3Dsearch%26orderby%3Dposition%26orderway%3Ddesc%26search_query%3DL298N%26submit_search%3D) |
-| [JGB37-520](https://c1555f5ec9.clvaw-cdnwnd.com/34662fcf1f1e607c561442431023ac8e/200013049-b3a11b3a13/JGB37-520%20Datasheet.pdf) | Encoder Disk Gear Motor 12v | [2 x 56 RON](https://www.aliexpress.com/item/1005007204535740.html) | 
+| [DRV8825](https://www.ti.com/lit/ds/symlink/drv8825.pdf) | Stepper Motor Driver | [2 x 12 RON](https://sigmanortec.ro/Driver-Stepper-DRV8825-p125423334) |
+| [NEMA17](https://components101.com/motors/nema17-stepper-motor) | Stepper Motor | [2 x 100 RON](https://sigmanortec.ro/motor-pas-cu-pas-nema17-18-grade-42x42x48mm) |
+| [Bracket](https://sigmanortec.ro/Suport-motor-Nema17-p135681865) | Nema17 mounting bracket | [2 x 64 RON](https://www.emag.ro/suport-prindere-motor-nema17-set-1-suport-4-suruburi-4-piulite-kqrexd-nema17-mounting-bracket/pd/D5DMPD2BM/) |
 
 
 ## Software
 
 | Library | Description | Usage |
 |---------|-------------|-------|
 | [embassy-stm32](https://github.com/embassy-rs/embassy/tree/main/embassy-stm32) | Hardware Interface | Base library for project. |
+| [embassy-executor](https://github.com/embassy-rs/embassy) | Async task executor | For Motor Driver Tasks |
+| [defmt](https://github.com/knurling-rs/defmt) | Deferred formatting logger | Logging for the tuning of the PID |
+| [panic-probe](https://github.com/knurling-rs/probe-run) | Panic handler | Displaying panic messages |
 
 ## Links
 
 1. https://www.youtube.com/watch?v=IYOxj6VyC8s&pp=ygUXaW52ZXJ0ZWQgcGVuZHVsdW0gcm9ib3Q%3D
+2. https://projecthub.arduino.cc/zjor/self-balancing-robot-with-arduino-nano-and-steppers-47e00e