XBee Module

The XBee is a wireless radio module that serves to connect communication between the FUELCON/NAVCON and the 0ILUS. The UART 2 Tx port connects to the PIC32 UART 2 Rx port, and vice versa, for transmitting and receiving.  

Indicator Servo Motor

On the boat side, the indicator servo motor served to raise up our team number "1" in a vertical position to indicate that the boat has been successfully paired to a controller. If it was not successfully paired, the "1" remained horizontal.

Thruster Motors and Pump Motor

The thruster motors require the use of an ESC (electronic speed controller) to regulate the three-phase current that is applied onto the thrusters. There is a control signal that goes into one of the pins on the Boat PIC. The thrusters are shown in the left picture, while the ESCs, containing the BYG wires, are in front of the thruster.

The pump motor (shown above in the main schematic) was driven by the TLE motor driver from last quarter, which contains an H-bridge to protect the motor from back-driving current.