From c68e1cf4445377242e151d0687d31d3c39f7a249 Mon Sep 17 00:00:00 2001 From: MihayFox Date: Fri, 24 Apr 2026 00:32:22 +0300 Subject: [PATCH 1/3] Add 4WD Smart Rover project documentation --- .../2026/mihnea.dunarintu/architecture.svg | 102 ++++++++++++++++++ .../project/2026/mihnea.dunarintu/index.md | 87 +++++++++++++++ 2 files changed, 189 insertions(+) create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/architecture.svg create mode 100644 website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md diff --git a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/architecture.svg b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/architecture.svg new file mode 100644 index 00000000000..b3edb0f4de8 --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/architecture.svg @@ -0,0 +1,102 @@ +

User Feedback

Communication Subsystem

Perception Subsystem

Mobility Subsystem - 4WD Mecanum

Main Control Unit

Power Subsystem

7.4V Power

7.4V Power

5V Power

5V Power

5V Power

5V Power

5V Power

PWM & Dir Logic

PWM & Dir Logic

5V Echo

5V Echo

5V Echo

Safe 3.3V Echo

3.3V Trig

3.3V Trig

3.3V Trig

Wi-Fi Vectors

UART Tx/Rx

PWM Signal

2x 18650 Batteries - 7.4V

Main Toggle Switch

LM2596 Buck Converter - 5V

STM32 Nucleo-U545RE-Q

TB6612FNG Motor Driver 1

TB6612FNG Motor Driver 2

Front Left Motor

Front Right Motor

Rear Left Motor

Rear Right Motor

Logic Level Converter 5V-3.3V

Front HC-SR04 Sensor

Rear HC-SR04 Sensor

Lateral HC-SR04 Sensor

ESP-01S Wi-Fi Module

Custom 2-Axis Joystick

Passive Buzzer

 \ No newline at end of file diff --git a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md new file mode 100644 index 00000000000..27bb95cb94b --- /dev/null +++ b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md @@ -0,0 +1,87 @@ +# 4WD Omni-Directional Smart Rover with Wi-Fi Teleoperation + +A 4WD smart robotic rover powered by an STM32 Nucleo board, featuring mecanum wheels for lateral parking and Wi-Fi teleoperation. + +:::info +**Author:** Dunărinţu Mihnea-Rafael +**Group:** 1221ED +**GitHub Project Link:** [https://github.com/UPB-PMRust-Students/fils-project-2026-mihnearafael](https://github.com/UPB-PMRust-Students/fils-project-2026-mihnearafael) +::: + +## Description + +The goal of this project is to build a 4WD smart robotic rover powered by an STM32 Nucleo board. The core software logic will be organized as a simple state machine, transitioning smoothly between the AUTONOMOUS_FORWARD, AUTONOMOUS_AVOID, MANUAL_CONTROL, SMART_REVERSE, LATERAL_PARKING, and STANDBY states based on sensor inputs, Wi-Fi commands, or physical hardware interrupts. + +The car operates in two primary modes: an autonomous mode where it navigates independently using a front-facing ultrasonic sensor to detect and avoid obstacles, and a manual mode where it is piloted remotely. Thanks to the upgraded 4WD mecanum wheels, the rover is capable of omnidirectional movement, allowing for advanced maneuvers such as lateral parking. + +For teleoperation, an ESP8266 module acts as a Wi-Fi bridge, allowing the user to control the rover's movements using a custom joystick. Additionally, the rover features an acoustic parking assist. When reversing, a rear-facing ultrasonic sensor continuously monitors the distance to obstacles behind the car, triggering a passive buzzer to beep faster as it approaches a wall. The user can switch between autonomous and manual modes via the Wi-Fi app, alternatively a custom joystick or by pressing the physical blue USER button on the Nucleo board as an instant failsafe override. + +## Motivation + +I chose this project to practically apply embedded systems concepts, particularly concurrent task scheduling and state machine logic. Upgrading from a standard 2WD differential drive to a 4WD mecanum system introduces interesting challenges in motor control and PWM synchronization. The addition of lateral parking and a custom joystick makes the system far more interactive and closer to modern automotive assist technologies. + +## Architecture + +The system is organized into five functional layers, centered around the STM32 Nucleo board: + +1. **Power:** Two 18650 Li-Ion batteries provide 7.4V. This powers the motor drivers directly, while an LM2596 buck converter steps it down to a stable 5V for the microcontroller and sensors. +2. **Mobility (4WD):** Four independent DC motors, equipped with mecanum wheels, are driven by two TB6612FNG motor controllers receiving PWM signals from the STM32. +3. **Perception:** Three HC-SR04 ultrasonic sensors (front, rear, lateral) detect obstacles. Their 5V Echo signals are safely stepped down to the Nucleo's 3.3V logic via a level converter. +4. **Communication:** An ESP-01S module establishes a Wi-Fi bridge, allowing the STM32 to receive remote control vectors from the custom joystick UI. +5. **Feedback:** A 0.96" OLED display provides visual state information, while a passive buzzer emits variable-frequency acoustic warnings during reverse maneuvers. + +## Log + +**Week 1 - 9** +* Started with a 2WD Rover idea and eventually moved to 4WD and more complex features like parallel parking after receiving feedback. +* Throughout the weeks I have gathered the materials needed to assemble the hardware of the kit and its adjacent components needed for the behaviour of the rover. + +**Week 12 - 18 May** +* **Week 19 - 25 May** +* ## Hardware + +The project relies on an STM32 Nucleo board as the main controller, communicating with an ESP8266 for remote commands. The chassis has been modified to support 4 independent DC motors and mecanum wheels for complex kinematics. Three ultrasonic sensors handle spatial awareness, while power is regulated via a buck converter to safely power the logic systems from the Li-ion batteries. + +### Schematics + +![Architecture Diagram](./architecture.svg) + +### Bill of Materials + +| Device | Usage | Price | +| :--- | :--- | :--- | +| STM32 Nucleo-U545RE-Q | Main microcontroller | 108.34 RON | +| 4WD Smart Car Chassis Kit | Base physical platform | 83.24 RON | +| 4x Omnidirectional (Mecanum) Wheels | Lateral/omnidirectional movement | 108.04 RON | +| 2x TB6612FNG Motor Drivers | PWM control for the DC motors | 20 RON | +| ESP-01S ESP8266 Wireless Module | Wi-Fi bridge for remote teleoperation | 18.99 RON | +| Bluetooth Module HC-06 | Alternative wireless communication | 30.41 RON | +| 3x HC-SR04 Ultrasonic Sensors | Obstacle detection (front & rear) | 40.12 RON | +| 2-Axis Joystick Module | Custom remote control input | 5.45 RON | +| OLED Display 0.96" I2C | Real-time status UI | 16.96 RON | +| 3V / 3.3V Passive Buzzer | Acoustic parking assist feedback | 0.99 RON | +| 2x Li-Ion Batteries & Battery Case | Main power supply | 72.09 RON | +| Li-Ion Battery Charger Module | Battery management & charging | 9.99 RON | +| LM2596 DC-DC Buck Converter | Voltage regulation (fixed 5V) | 12.99 RON | +| Breadboard Power Supply & 9V Connector | Logic power distribution | 6.20 RON | +| Prototyping PCBs & Breadboard | Component mounting & soldering | 22.98 RON | +| Silicone Wires, Jumpers, & Pin Headers | Component interconnections | 71.40 RON | +| Resistors, Capacitors, & Power Switch | Circuit filtering & power toggling | 22.88 RON | +| M2 Hex Pillars | Hardware mounting | 9.95 RON | + +## Software + +| Library | Description | Usage | +| :--- | :--- | :--- | +| `embassy-stm32` | Hardware Abstraction Layer | Required to interface directly with the STM32 hardware registers and pins. | +| `embassy-executor` | Async runtime | Responsible for scheduling concurrent, non-blocking tasks (driving motors while listening for Wi-Fi). | +| `embassy-time` | Timer module | Essential for creating precise microsecond timers to calculate obstacle distances via HC-SR04. | +| `embedded-hal` | Standard traits | Provides standard traits needed to communicate with external hardware safely. | +| `defmt` & `defmt-rtt` | Logging framework | Highly efficient logging tools for real-time debugging over USB. | +| `panic-probe` | Error handling | Catches critical firmware errors and prints backtraces. | +| `heapless` | Data structures | Manages UART data stream from ESP8266 without dynamic allocation. | + +## Links + +1. [STM32 Nucleo-U545RE-Q Documentation](https://www.st.com/en/evaluation-tools/nucleo-u545re-q.html) +2. [Embassy framework documentation](https://embassy.dev/) \ No newline at end of file From f828bace0ac9bdc21acc361a5f5ebf3c2b3dd13d Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mihnea-Rafael=20Dun=C4=83rin=C8=9Bu?= Date: Sat, 25 Apr 2026 11:06:35 +0300 Subject: [PATCH 2/3] Update website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md Co-authored-by: Roy <152509155+frihetselsker@users.noreply.github.com> --- .../version-fils_en/project/2026/mihnea.dunarintu/index.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md index 27bb95cb94b..204af810322 100644 --- a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md @@ -3,8 +3,8 @@ A 4WD smart robotic rover powered by an STM32 Nucleo board, featuring mecanum wheels for lateral parking and Wi-Fi teleoperation. :::info -**Author:** Dunărinţu Mihnea-Rafael -**Group:** 1221ED +**Author:** Dunărinţu Mihnea-Rafael \ +**Group:** 1221ED \ **GitHub Project Link:** [https://github.com/UPB-PMRust-Students/fils-project-2026-mihnearafael](https://github.com/UPB-PMRust-Students/fils-project-2026-mihnearafael) ::: From ab0061ed22d92bbbd968465c8734405d9ef2761f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Mihnea-Rafael=20Dun=C4=83rin=C8=9Bu?= Date: Sat, 25 Apr 2026 11:06:43 +0300 Subject: [PATCH 3/3] Update website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md Co-authored-by: Roy <152509155+frihetselsker@users.noreply.github.com> --- .../project/2026/mihnea.dunarintu/index.md | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md index 204af810322..2db9bae86c0 100644 --- a/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md +++ b/website/versioned_docs/version-fils_en/project/2026/mihnea.dunarintu/index.md @@ -32,13 +32,14 @@ The system is organized into five functional layers, centered around the STM32 N ## Log -**Week 1 - 9** -* Started with a 2WD Rover idea and eventually moved to 4WD and more complex features like parallel parking after receiving feedback. -* Throughout the weeks I have gathered the materials needed to assemble the hardware of the kit and its adjacent components needed for the behaviour of the rover. +### Week 1 - 9 +- Started with a 2WD Rover idea and eventually moved to 4WD and more complex features like parallel parking after receiving feedback. +- Throughout the weeks I have gathered the materials needed to assemble the hardware of the kit and its adjacent components needed for the behaviour of the rover. -**Week 12 - 18 May** -* **Week 19 - 25 May** -* ## Hardware +### Week 12 - 18 May +### Week 19 - 25 May + +## Hardware The project relies on an STM32 Nucleo board as the main controller, communicating with an ESP8266 for remote commands. The chassis has been modified to support 4 independent DC motors and mecanum wheels for complex kinematics. Three ultrasonic sensors handle spatial awareness, while power is regulated via a buck converter to safely power the logic systems from the Li-ion batteries.