Choosing/Directional Control Joysticks

The Moving Joystick was used for directional control (forward/backward/rotation) of the boat. The Choosing Joystick was used in the initial paiting state of the NEDMO, along with a Dot Matrix LED display, to pick the boat number (1-6) to pair to (where moving right incremented the number and left decremented the number). 

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.  

DM Display Module

The DM Display module was used to display all 6 boat numbers so that the user could pair with different boats. A highlighted section underneath each number indicated which boat the user has currently selected. The joystick module was used to scroll between each number. Note that the DM Display required use of SPI to transmit information to display, as well as an octal buffer to step up the voltage from 3.3V to 5V.

Button Modules

The buttons on the NEDMO were used to trigger various events. The Drum Limit Switch (Drum Button) was used to refuel the 0ILUS (boat). The Boat button was used to pair to a specific boat; the Shoot button was used to activate the onboard pump that would blast jets of water; and IncAngle/DecAngle changed the duty cycle of the pump to increase and decrease the flow rate. All buttons implement debouncing to prevent noise from interfering with a registered button input.

Indicator Servos

An indicator servo was used on the boat to indicate whether the NEDMO was paired to the boat. A fuel servo was used on the FUELCON to indicate fuel level, and when the boat was in need of refueling.