Electrical

The 0ILUS circuitry manages the wireless communication with NEDMO, drives the thrusters, and controls the water pump. The PIC32 microcontroller communicates with the Xbee transceiver through a pair of UART ports at 9600 baud. The output power of the two underwater thrusters is controlled independently by two PWM pulse sources that generate 50 Hz PWM pulses. The pump circuitry is a simple motor driver circuit that drives the pump in one direction. An MG996R servo controls the pitch of the water pump. The LM317T step-down regulator converts the 15V battery source to 5V voltage with 2A output current capacity. The pairing indication servo and the LED light strip indicate the pairing status between 0ILUS and NEDMO.

0ILUS Components

NEDMO-DESCRIPTION

The NEDMO circuit employs a single PIC32 microcontroller to manage communication with OILUS and interaction with the users. In the NAVCON part, three contact switches are responsible for controlling OILUS's attack mechanisms, while a joystick with two analog channels governs its movement. In the FUELCON part, a potentiometer is used to select which OILUS connect to, and a Pairing switch initiates the pairing request. Once paired, the fuel level received wirelessly from OILUS is indicated by the servo motor, and the user can initiate refueling at any chosen moment. To detect the large-scale motion necessary for the refueling process, an accelerometer is utilized. The status of NEDMO (NAVCON + FUELCON) is communicated to the users through beep patterns from a buzzer, and the operators of FUELCON and NAVCON commence refueling by touching their respective conductive pads together. All switches in the NEDMO circuit are debounced with 0.1uF capacitors and pulled down by 10kOhm resistors.