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Hello again, Steve...sorry for the delayed
reply.
You are right about microcontrollers...very cool
things! So much is possible with them.
It is a microcontroller in the control box which
sends the pilot information serially
down to the sub itself which has 2 microcontrollers
in it. One is the main processor,
the other's primary job is to move the servo
to which a camera is attached.
I use Pulse Width modulation for motor control (4
thrusters -- 2 horizontal, 2 vertical).
Fortunately, the PICs I am using have
2 PWM outputs each, so that part is quite easy.
I also have a depth sensor, digital compass, and
external temperature sensor. The data
is read by the main PIC, sent up the wire to the
control box. I don't have a display on my
control box yet, but I can plug my laptop into my
control box. The software I wrote for it
displays all the sensor info, and allows me to
control the sub from there too (ie/ bottom
following, etc).
It sounds like you also have a very interesting
project on the go. Shame we don't live closer.
It would be fun to compare notes. I am
working with another fellow here on building an
autonomous sub also..we have had a few preliminary
successes, but still have some more to do...
Keep in touch...
Julian
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