Programs/code

• Raspberry Pi Buster OS (Legacy/Desktop Version)

  • Raspberry Pi Software 

  • Enable All Interfaces (Camera, I2C, VNC, etc)

  • Set up VNC

  • Change Resolution off of Default so VNC can be run headless

  • Add the following two lines to config.txt to open more i2c functionality

    • dtoverlay=i2c-gpio,bus=4,i2c_gpio_delay_us=1,i2c_gpio_sda=23,i2c_gpio_scl=24

    • dtoverlay=i2c-gpio,bus=3,i2c_gpio_delay_us=1,i2c_gpio_sda=15,i2c_gpio_scl=16

• Object Detection Guide and Source Code

  • Core Electronics Object Detection

  • If you set your hostname to be something other than pi, you must change the file paths

• Adjusted Code

  • INSERT updated obj-ident.py

  • Our hostname is sealionx

Sensors are all wired on I2C

I2C

• Guide to Use Multiple I2C Devices 

Sensors

• BNO055 - Absolute Orientation Sensor

  • Guide and Source Code

    • Adafruit Python BNO055 Guide 

    • Use Extended I2C

    • Install Adafruit_Blinka Library

      • Guide 

• Blue Robotics Bar 30 Depth/Pressure Sensor

  • Pressure Sensor Guide and Source Code

    • Blue Robotics Bar30 Raspberry Pi Guide 

    • For Buster OS compatibility with Python 3, use "sudo apt-get install python3-smbus" instead of "sudo apt-get install python-smbus2"

    • Must use assigned bus number for I2C (python2 to python3 adjustment)

  • Adjusted Code

    • INSERT updated ms5837.py

PWM signals are all wired on I2C

• Adafruit PCA9685 

  • Guide and Source Code

    • Adafruit PCA9685 Overview and Implementing Servos

    • Ensure V+ and Vcc are both connected

Thrusters are also controlled by the PCA9685 as they are controlled by ESCs which take compatible signals

LEDs are controlled as servos as they are run by PWM

https://github.com/yvmhaskar/UltrasilentAUV