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--- pm:prj2025:vradulescu:valentin.pletea [2025/05/28 23:22]
valentin.pletea
+++ pm:prj2025:vradulescu:valentin.pletea [2025/05/30 09:55] (current)
valentin.pletea [Laboratory Functionality Integration]
@@ Line 12: / Line 12: @@
 |NUCLEO-F401RE Development Board|1|Mouser Electronics|€13.13|[[https://ro.mouser.com/ProductDetail/STMicroelectronics/NUCLEO-F401RE?qs=fK8dlpkaUMvGeToFJ6rzdA%3D%3D|Mouser]]|[[https://www.st.com/resource/en/data_brief/nucleo-c031c6.pdf|STM32F401RE Datasheet]]|
 |MPU6050 Gyroscope/Accelerometer Module|1|Mouser Electronics|€8.55|[[https://ro.mouser.com/ProductDetail/Olimex-Ltd/MOD-MPU6050?qs=SUpef6bDnvVsH%252Bq1tWOBKA%3D%3D|Mouser]]|[[https://ro.mouser.com/datasheet/2/306/RM-MPU-60xxA_rev_4-736751.pdf|MPU6050 Datasheet]]|
-|TowerPro MG996R Servo Motor|2|TowerPro|RON 80|[[https://towerpro.com.tw/product/mg996r/|TowerPro]]|[[https://towerpro.com.tw/product/mg996r/|MG996R Specifications]]|
+|TowerPro MG996R Servo Motor|2|TowerPro|RON 25|[[https://cleste.ro/motor-servo-mg996-13kg-360g.html|Cleste]]|[[https://towerpro.com.tw/product/mg996r/|MG996R Specifications]]|
 |Module DC-DC Step Down LM2596S|2|Optimus Digital|12.99 RON|[[https://www.optimusdigital.ro/en/adjustable-step-down-power-supplies/1109-lm2596-dc-dc-step-down-module-5a.html|Optimus]]|[[https://www.optimusdigital.ro/en/adjustable-step-down-power-supplies/1109-lm2596-dc-dc-step-down-module-5a.html|Module Specifications]]|
-|Mini Breadboard|2|Mouser Electronics|€2.60|[[https://ro.mouser.com/ProductDetail/OSEPP-Electronics/LS-00047?qs=w%2Fv1CP2dgqofvkXBf4F3MQ%3D%3D|Mouser]]|[[https://www.osepp.com/accessories/components/162-ls-00047-solder-able-breadboard-mini|LS-00047 Datasheet]]|
-|Resistors Kit|1|Mouser Electronics|€10.84|[[https://ro.mouser.com/ProductDetail/SparkFun/COM-10969?qs=WyAARYrbSnYDX0pYE0qQCg%3D%3D|Mouser]]|[[N/A]]
 |Plusivo Kit|1|Optimus Digital|RON 40|[[https://www.optimusdigital.ro/en/kits/12026-plusivo-electronics-starter-kit-0721248990075.html?search_query=plusivo+kit&results=56|Optimus]]|
+|Acumulator LiPo GENS ACE G-Tech Soaring 7.4 V/ 2200 mA/ 30C XT60|1|Sierra|RON 88|[[https://www.sierra.ro/cumpara/acumulator-lipo-gens-ace-g-tech-soaring-7-4-v-2200-ma-30c-xt60-2371|Sierra]]|
 ==== Block Diagram ====
-{{:pm:prj2025:vradulescu:screenshot_from_2025-05-28_23-17-21.png?200|}}
+{{:pm:prj2025:vradulescu:screenshot_from_2025-05-28_23-17-21.png?500|}}
 The diagram above shows the complete architecture of the stabilization system. The main blocks are:
@@ Line 49: / Line 49: @@
 ==== Electrical Schematics ====
-{{:pm:prj2025:vradulescu:screenshot_from_2025-05-28_23-19-50.png?200|}}
+{{:pm:prj2025:vradulescu:screenshot_from_2025-05-28_23-19-50.png?500|}}
 The complete electrical schematic shows in detail all connections between components, including:
@@ Line 70: / Line 70: @@
 ==== Sensor MPU6050 Schematics ====
-{{:pm:prj2025:vradulescu:named_pins_6050.jpg?200|}}
+{{:pm:prj2025:vradulescu:named_pins_6050.jpg?300|}}
 ==== Microcontroller Pin Configuration ====
@@ Line 86: / Line 86: @@
 |GPIOA|PA5|LD2|GPIO_Output|Indicator LED for diagnostics|
-{{:pm:prj2025:vradulescu:screenshot_2025-05-25_022914.png?200|}}
+{{:pm:prj2025:vradulescu:screenshot_2025-05-25_022914.png?500|}}
 === I2C1 Configuration ===
@@ Line 118: / Line 118: @@
 ==== Functionality Demonstration ====
-{{:pm:prj2025:vradulescu:whatsapp_image_2025-05-16_at_03.38.31.jpeg?200|}}
+{{:pm:prj2025:vradulescu:whatsapp_image_2025-05-16_at_03.38.31.jpeg?350|}}
-The image above shows the current hardware setup, featuring:
+The image above shows the sensor hardware setup, featuring:
   * STM32F401RE Nucleo development board
   * MPU6050 sensor connected via I2C
@@ Line 126: / Line 126: @@
 I have tested the functionality of the MPU6050 sensor and obtained valid orientation data. After applying the Kalman filter, the data is stable and accurate.
+{{:pm:prj2025:vradulescu:whatsapp_image_2025-05-29_at_01.13.15.jpeg?350|}}
+This image shows the servo motor used for Y axis, including the support printed 3D via Fusion 360 and the cross gear.
+{{:pm:prj2025:vradulescu:1.jpg?400|}}
+Here is the almost final state of the project, soldering the motor pins with the corresponding DC-DC modules.
+{{:pm:prj2025:vradulescu:2.jpg?400|}}
+This image represents the 3D printing moment, for supports and platform base.
 ==== Power Consumption Calculations ====
@@ Line 230: / Line 242: @@
 		*  Temporary buffers are reused where possible to reduce peak memory usage
 ==== Sensor Calibration ====
-The calibration process for the MPU6050 was implemented in several steps:
+Initial Angle Determination:
+   * Initial angles are calculated from accelerometer data at startup
-	*  Gyroscope Bias Calibration:
+   * These angles initialize the Kalman filter states
-		*  The device is placed in a stationary position at startup
+   * Ensures stable starting point for the filter
-		*  500 gyroscope readings are collected over approximately 5 seconds
-		*  The average value for each axis is calculated and stored as the gyroscope bias
-		*  This bias is then subtracted from all subsequent gyroscope readings
-	*  Accelerometer Calibration:
-		*  A six-position calibration procedure was used (placing the sensor flat on all six sides)
-		*  For each position, 100 readings are averaged to determine the accelerometer response
-		*  A 3x3 calibration matrix is calculated to correct for misalignment and scale errors
-		*  The calibration matrix is applied to all raw accelerometer readings
-	*  Initial Angle Determination:
-		*  Initial angles are calculated from accelerometer data using arctangent functions
-		*  These initial angles are used to initialize the Kalman filter states
-		*  This ensures the filter begins with accurate orientation information
-The calibration parameters are stored in memory and applied continuously during operation. The calibration procedure significantly improved angle estimation accuracy from ±5° to better than ±0.5° in static conditions.
+Automatic Bias Correction:
+   * The Kalman filter continuously estimates gyroscope bias
+   * No manual calibration required
+   * Bias estimation improves over time during operation
 ==== Servo Control System ====
 The servo control implementation includes:
@@ Line 298: / Line 298: @@
 ==== Laboratory Functionality Integration ====
 The project leverages several functionalities covered in laboratory sessions:
-	*  GPIO Control (Lab 0):
-		*  Used for system status indicators
-		*  Implemented LED indicators for system status
-		*  Configured button input for user interaction and calibration trigger
 	*  UART Communication (Lab 1):
@@ Line 380: / Line 375: @@
 Based on many results like this, I generated, using Python, two graphics witch demonstrate the stability of this filter:
-{{:pm:prj2025:vradulescu:kalman_filter_stability.png?200|}}
+{{:pm:prj2025:vradulescu:kalman_filter_stability.png?400|}}