devlog 002

date: july 10, 2026
project: car vault

what i did

since devlog 001, i worked on making the project more complete after getting feedback on the submission.

the main feedback was that the project needed a better prototype of the software and firmware, plus a cad assembly showing where all the parts would go.

firmware and software

i added prototype esp32-s3 firmware for:

• reading the wheel encoders
• controlling the motors
• pid motor control
• receiving commands from the raspberry pi
• stopping the motors if communication is lost

i also added prototype raspberry pi software for:

• reading the usb camera
• running the vision model
• communicating with the esp32-s3
• creating an occupancy grid
• a* path planning
• sending motor commands
• a placeholder structure for slam

the code is still a prototype and is not fully tested yet, but it shows how the full system is supposed to work.

cad assembly

i worked on the cad assembly several times because the first versions did not look like the actual planned robot.

i changed it so it uses the real:

• chassis base stl
• front skid stl

then i added simple placeholders for:

• raspberry pi 5 and ups
• esp32-s3
• drv8833 motor driver
• imu
• logic-level shifter
• motor battery
• camera
• motors and wheels

i kept the final version basic because it is mainly supposed to show where the parts go, not pretend that the robot is already fully designed.

fusion conversion

i also converted the basic stl assembly into a fusion-compatible step assembly.

the assembly was split into separate named parts so they can show up separately inside fusion instead of being one giant stl mesh.

i made:

• the main step assembly
• separate component step files
• a component map
• a preview image
• a fusion import package

raspberry pi settings

i tested overclocking the raspberry pi 5 to 3 ghz, but decided not to use that as the normal project setup.

the robot will use the stock clock for better stability, lower heat, and longer battery life. the 3 ghz overclock will only be used later as an optional performance mode for heavy vision or slam testing.

what is done now

• prototype esp32-s3 firmware
• prototype raspberry pi software
• vision model structure
• slam and a* software structure
• basic cad assembly
• fusion-compatible step assembly
• separate cad components
• updated hardware layout
• stable raspberry pi power/performance plan

what is still not done

the robot is still not physically built or tested.

i still need to:

• order the parts
• 3d print the chassis
• assemble everything
• test the power system
• test the motors and encoders
• test the camera and imu
• test the vision model
• tune pid
• get slam working
• test autonomous navigation

reflection

this part of the project was mostly about turning the original idea into something that looks more planned and buildable.

the firmware and software are still prototypes, and the cad assembly is still basic, but now the project shows both how the robot will be programmed and where the hardware will actually go.