Project/robert mario.coman

website/versioned_docs/version-acs_cc/project/2026/robert_mario.coman/index.md

@@ -8,13 +8,13 @@ A robot arm that cleans liquid around itself.
 
 :::
 
-### Description
+## Description
 **Endless Motion** is a robotic arm system that receives input from sensors placed in specific locations to detect the presence of a liquid. It processes these signals to determine the target area that requires intervention. Based on this data, it calculates control commands, moves to the detected zone, and executes a wiping action. The system continuously updates its movement, repeating the process based on newly received signals.
 
-### Motivation
+## Motivation
 The primary inspiration for this project comes from the famous contemporary artwork *"Can't Help Myself"* (by Sun Yuan & Peng Yu), which features an industrial robotic arm trapped in an endless, repetitive loop of trying to clean up a liquid that continuously spreads across the floor. Fascinated by this visual and conceptual piece, I decided to engineer a small-scale, functional replica of this behavior.
 
-### Architecture
+## Architecture
 
 ![System Architecture Diagram](./images/diagram_pm.svg)
 
@@ -28,5 +28,46 @@ Based on the system diagram, the architecture is divided into the following logi
 * **Servomotors (Output):** The physical actuators that interpret the PWM control signals to execute the physical movement of the arm.
 * **External Power Supply:** A dedicated power source strictly for the servomotors.
 
-### Log
+## Log
+
+### Week 5 - 11 May
+
+### Week 12 - 18 May
+
+### Week 19 - 25 May
+
+## Hardware
+
+* **Microcontroller:** STM32U545RE-Q (ARM Cortex-M33) - The "brain" of the system, responsible for reading sensor data and generating precise PWM control signals.
+* **Servomotors:** 4x MG90S Micro Servomotors (180°, Metal Gear) - These provide the necessary torque and durability to physically move the robotic arm and press the sponge against the surface.
+* **Sensors:** 3x Raindrop Sensor Modules (with LM393 comparators) - Placed in three distinct radial zones around the robot to detect the presence of liquid and trigger the cleaning state.
+* **Power Supply Domain:** A dedicated 5V / 6A AC-DC wall adapter connected via a DC jack screw terminal. This heavily isolated power line feeds directly into the motors, preventing voltage drops and protecting the microcontroller from high-current draw.
+
+### Schematics
+
+Place your KiCAD or similar schematics here in SVG format.
+
+### Bill of Materials
+
+| Device | Usage | Price |
+|---|---|---|
+| STM32U545RE-Q Nucleo | The microcontroller | [129 RON](https://ro.farnell.com/stmicroelectronics/nucleo-u545re-q/development-brd-32bit-arm-cortex/dp/4216396?CMP=e-email-sys-orderack-GLB) |
+| MG90S Micro Servomotor (180°, Metal Gear) | Actuators providing precise physical movement for the robotic arm joints | [22.86 RON](https://electronix.ro/produs/servomotor-mg90s-180-de-grade/) x 4 |
+| Raindrop Sensor Module (LM393) | Placed in 3 zones to detect liquid presence and trigger the wiping sequence | [8.76 RON](https://electronix.ro/produs/modul-cu-senzor-picaturi-de-ploaie-raindrop-arduino/) x 3 |
+| 5V 6A AC-DC Power Adapter | Dedicated high-current power supply for the servomotors to prevent board resets | [159,89 RON](https://electronix.ro/produs/alimentator-5vdc-6a-30w/) |
+
+## Software
+
+| Library | Description | Usage |
+|---------|-------------|-------|
+| [embassy-stm32](https://github.com/embassy-rs/embassy) | Hardware Abstraction Layer (HAL) for STM32 | Used to configure the physical pins: PWM for the servomotors and ADC/GPIO for the raindrop sensors. |
+| [embassy-executor](https://github.com/embassy-rs/embassy) | Lightweight Async Executor | Manages the core state machine, scheduling and running the non-blocking tasks (e.g., `Idle`, `Wiping`). |
+| [embassy-time](https://github.com/embassy-rs/embassy) | Timekeeping and Timers | Controls the speed of the servo movements (the wiping animation) and handles sensor debounce delays. |
+| [defmt](https://github.com/knurling-rs/defmt) | Highly efficient logging framework | Used to send real-time debug data (e.g., "Zone 2 Triggered", "Servo angle: 90°") to the PC over the USB probe. |
+| [panic-probe](https://github.com/knurling-rs/defmt) | Panic handler | Catches any software crashes and prints the error stack trace to the terminal for easy debugging. |
+
+## Links
+
+1. [Project Inspiration: "Can't Help Myself" by Sun Yuan & Peng Yu (Guggenheim Museum)](https://www.guggenheim.org/artwork/34812)
+2. [Mechanical 3D Model: "Micro Robot arm" by bentommye (Thingiverse)](https://www.thingiverse.com/thing:34829)