Project/camelia.istrate (#1029)

* FIles updated

* Image updated

* Added schematic

* Updated the svg name

* Updated the svg name

* Update schematic

* Update schematic

* Added images with the project

* FIles updated

* Image updated

* Added schematic

* Updated the svg name

* Updated the svg name

* Update schematic

* Update schematic

* Added images with the project

* Update schematic

* Update schematic

Author: camistrate

website/versioned_docs/version-acs_cc/project/2026/camelia.istrate/images/architecture_diag.webp

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+# Robotic Arm with Master-Slave Control Mode
+A robotic arm controlled via potentiometers with record and playback functionality.
+
+:::info 
+
+**Author**: Istrate Camelia-Elena \
+**GitHub Project Link**: https://github.com/UPB-PMRust-Students/acs-project-2026-camistrate.git
+
+:::
+
+<!-- do not delete the \ after your name -->
+
+## Description
+
+This project implements a robotic arm controlled by an STM32 microcontroller programmed in Rust. The system consists of a master controller with potentiometers and a slave robotic arm driven by multiple servo motors.
+
+The system supports two operating modes:
+
+- **Manual Mode**: the master controller (potentiometers) directly controls the slave robotic arm in real time.
+- **Record & Playback Mode**: the system records a sequence of movements performed in manual mode (master) and later replays them automatically on the slave robotic arm.
+
+The STM32 reads analog input values from the master controller, processes them, and sends commands to a PWM servo driver module that controls the robotic arm in real time.
+
+## Motivation
+
+The idea for this project originated from a brainstorming session, inspired by a simple robotic arm concept seen on social media. I wanted to improve that concept by building a more refined and reliable system.
+To extend the original idea, I added a record and playback feature, enabling the robotic arm to capture and reproduce movements, making the system more advanced and interactive.
+
+## Architecture 
+
+The system is divided into the following main components:
+
+- **Master Controller**: consists of potentiometers and a push button, used to generate control inputs and select the operating mode.
+
+- **Processing Unit (STM32)**:
+  - reads analog inputs (ADC) and digital inputs (GPIO)
+  - processes control data
+  - manages operating modes (manual, record, playback)
+  - communicates with external modules
+
+- **Memory Buffer (implemented in STM32 RAM)**:
+  - stores recorded servo positions over time during record mode
+  - provides stored data during playback mode
+
+- **Servo Driver (PCA9685)**:
+  - receives commands from the STM32 via I2C
+  - generates PWM signals for controlling multiple servo motors
+
+- **Slave Robotic Arm (Actuators)**:
+  - consists of multiple servo motors (base, shoulder, elbow, wrist, gripper)
+  - executes movements based on PWM signals
+
+![Architecture Diagram](./images/architecture_diag.webp)
+
+## Log
+
+<!-- write your progress here every week -->
+### Week 6 - 12 April
+In this week, I did a brainstorming session and chose the project idea.
+
+### Week 20 - 24 May
+In this period, I researched the hardware requirements for the project, identified the necessary components, and placed orders for them.
+
+### Week 27 April - 3 May
+During this week, I focused on developing the project documentation.
+
+### Week 4 - 10 May
+In this period, I received the first ordered components, printed the 3D parts required for the robotic arm structure, and placed additional orders for the remaining hardware components.
+
+### Week 11 - 17 May
+During this week, the last ordered components arrived. I focused on the hardware part of the project, assembled the main mechanical structure, connected the electronic components, and tested the basic wiring.
+
+### Week 18 - 24 May
+In this week, I implemented the software part of the project in Rust, tested the interaction between the potentiometers, buttons, PCA9685 driver, and servo motors, and verified that the main functionalities worked correctly. I also mounted all components on the final support structure.
+
+![Image1](./images/project1.webp)
+![Image2](./images/project2.webp)
+
+## Hardware
+
+The project uses an STM32 development board as the main controller. A set of potentiometers and a push button are used as input devices to control the system.
+
+The robotic arm is driven by multiple servo motors, controlled through a PCA9685 servo driver module using I2C communication. The servos are powered by an external power supply, while the STM32 handles the control logic.
+
+All components are connected using standard wires and connectors, and the mechanical structure of the arm is made from 3D printed parts.
+
+### Schematics
+
+![Schematic](./images/schematic_pm.webp)
+
+
+### Bill of Materials
+
+| Device | Usage | Price |
+|--------|--------|-------|
+| [STM32 Nucleo Board](https://www.st.com/en/evaluation-tools/stm32-nucleo-boards.html) | Main microcontroller used for processing inputs and controlling the robotic arm | Free (Provided by faculty) |
+| [10k Potentiometer](https://sigmanortec.ro/Potentiometru-1K-5K-10K-20K-50K-100K-p136286400) | Used as analog input for controlling servo positions | 4 x 1.31 RON |
+| [MG996R Servo Motor](https://sigmanortec.ro/servomotor-mg996r-180-13kg) | High torque servo motors used for main joints (base, shoulder, elbow) | 3 x 29.5 RON |
+| [Mini Push Button](https://sigmanortec.ro/buton-mini-6x6x5-4-pini) | Used for switching between operating modes |4 x 0.36 RON |
+| [SG90 Micro Servo](https://sigmanortec.ro/Servomotor-SG90-limit-switch-p141662062) | Used for controlling the gripper | 1 x 9.5 RON |
+| [XT60 Connector](https://sigmanortec.ro/Conector-XT60-Mama-Tata-p148577270) | Used for power supply connection | 2 x 4.3 RON |
+| [Power Switch KCD11](https://sigmanortec.ro/Intrerupator-KCD11-250V-3A-2-pini-p166528374) | Used to turn the system on/off | 1 x 1.19 RON |
+| [PCA9685 Servo Driver](https://sigmanortec.ro/Modul-PCA9685-interfata-I2C-16-CH-servo-motor-p126016016) | Generates PWM signals for controlling multiple servo motors via I2C | 1 x 27.27 RON |
+| **Total** |  | **141.5 RON + Free board** |
+
+
+## Software
+
+| Library | Description | Usage |
+|---------|-------------|-------|
+| [embassy-stm32](https://github.com/embassy-rs/embassy) | Hardware abstraction layer for STM32 microcontrollers | Used for accessing peripherals such as ADC, GPIO, and I2C |
+| [embassy-executor](https://github.com/embassy-rs/embassy) | Async runtime for embedded systems | Used to manage tasks and timing in the application |
+| [embedded-hal](https://github.com/rust-embedded/embedded-hal) | Common hardware abstraction traits for embedded systems | Provides generic interfaces for peripherals like I2C and GPIO |
+| PCA9685 driver crate | Driver for controlling the PCA9685 PWM module | Used to control servo motors via I2C |
+| [defmt](https://github.com/knurling-rs/defmt) | Lightweight logging framework for embedded systems | Used for debugging and monitoring values |
+| [panic-probe](https://github.com/knurling-rs/defmt) | Panic handler for embedded Rust applications | Used for debugging runtime errors |
+
+## Links
+
+<!-- Add a few links that inspired you and that you think you will use for your project -->
+
+1. https://www.hackster.io/WolfxPac/simple-and-smart-robotic-arm-using-arduino-1ceda6
+