Embedded Files
Battery Enclosure
Battery Enclosure
Supports 24 Lithium-Ion batteries in a 4s6p configuration.
ESCs and Thrusters
ESCs and Thrusters
5 Electronic speed control to run 5 three-phase, brushless, waterproof motors with a propeller and nozzle for thrust.
Power Delivery PCB
Power Delivery PCB
This PCB is designed to provide power to 5V loads (6A) and 12 V loads (1A). This PCB also provides an I2C connection to the Raspberry PI system to communicate battery voltage.
Ask Steve Blomgren about more information surrounding the above three blocks.
Arduino Embedded System
Arduino Embedded System
This block consists of a custom made PCB with a similar design and architecture to the Arduino Uno.
Frame/Enclosure
Frame/Enclosure
This block consists of the frame that attaches the wet components and an attached enclosure housing the dry components.
Arduino Shield PCB
Arduino Shield PCB
This PCB is designed to hold the Arduino embedded system and mount it to the Raspberry Pi through the GPIO port.
Ask Stephen Brown about more information surrounding the above three blocks.
Arduino Software
Arduino Software
This block consists of the software running on the microcontroller, taking communication input and translating what it has received to run the thrusters and manipulator.
Control Station
Control Station
This block consists of an above-water user input station to control the ROV manually. It will run on a laptop and communicate through an ethernet tether with the on-board computer. The on-board computer will send this block a video feed from the ROV.
Sensors
Sensors
This block consists of an accelerometer and gyroscope sensor that will be used for autonomous control of the ROV.
Ask Jared Gaskin about more information surrounding the above three blocks.
Manipulator
Manipulator
This block consists of a 1-degree of freedom manipulator consisting of a servo actuating a claw to grip the connectors.
On-Board Computer
On-Board Computer
This block consists of the brain of the system, a Raspberry Pi, with its inputs and outputs.
On-Board Control Software
On-Board Control Software
This block consists of the software for the main controller that will be running ROS, linking the control station, Arduino, sensors, and computer vision software.
Ask Zack Pelster about more information surrounding the above three blocks.
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