Embedded Files
The electrical system consists of two sealed enclosures.
First is the electronics box on the left of the figure which contains a Raspberry Pi 2 Model B, a custom PCB which sits on top of the Raspberry Pi’s 40 pin header, and the ODrive S1 motor controller. The team selected a Raspberry Pi for the primary controller primarily because of its ethernet connectivity which is required to communicate to the ROV as well as the ease of integration. The custom PCB will contain additional peripheral components and connectors for interacting with external components.
The second sealed enclosure is the motor gearbox which contains both motors, their encoders, the hall effect sensors, and the slip ring that allows communication with the surface through the tether on the reel.
PCB Design
PCB Design
The role of the custom PCB is to contain additional components that are not already integrated on the Raspberry Pi or ODrive S1. On the board there are components with several different responsibilities including stepping down the ROV battery voltage, reading and tracking the encoder pulses of the DC motor, filtering the analog hall effect sensor signals, and controlling the DC motor.
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