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Steve,
the compass I am using is the HMR3300 by
honeywell
It gives heading, pitch, and roll, and can send
this info serially, so it lends itself quite well
to microcontroller interface.
As for the depth sensor, I'm using a tiny pressure
sensor from DigiKey that outputs 0.5 to 4.5 v,
Oh, and the tempoerature sensor is quite
simple...an LM35 which has an analog output linear
with temperature. I use the "can" type which
is waterproof, and have sealed it into place in my
Your pic is great...I will try to get a pic of the
Guppy and send it to you, or post it to Moki as well.
I only have a 20m tether on it at the moment.
This particular structure has served more as a
prototype to help me get the electronics and
software working completely. My next plan is to build
a sub that will be capable of reaching 150m or
so. Then I will just move the electonics into that
body. There are LOTS of shipwrecks in the
great lakes, and I am hoping to be able to visit them
remotely.
There has actually also been government and
military interest in these sorts of devices...particularly
the AUV I am working on. Harbour security and
environmental monitoring are hot topics right now,
and there is quite a bit of government spending
along these lines. I have made some contacts, and am
planning on pursuing this.
Regards,
Julian Ford
----- Original Message -----
Sent: Friday, August 27, 2004 7:44
PM
Subject: RE: [PSUBS-MAILIST] UK psuber's
/ ROV
Hi
Julian
it
sounds like you are a little bit further down the line than me but sounds
good.
the
BASIC stamp doesn't come with PWM as standard but i'm not too worried about
that yet, simple stop / go control first then PWM when i have something that
actually works.
I do
want, like you, to have a digital compass and depth sensor and send the data
to an LCD but i'm not too sure about the temperature?
i do
want a 'hold at current depth' feature as that would be really
useful. also my video display was a bargain, 2 years ago,
£150 for a 5.6" colour TFT with AV inputs. i believe they are now
under £100 brand new.
yes,
it is a shame we are not closer, but then we do have the wonder of technology
on our side.
What
are you aiming for normal operational depth? i only want 10m (33ft) as
this is still quite a repectable depth especially at twice ATM pressure and
will allow me to explore inlets / harbour areas. I have a 30m / 100ft
tether so 10m depth will also potentially give me a 20m radius to
explore.
speak again
soon
steve
-----Original
Message-----
From: owner-personal_submersibles@psubs.org
[mailto:owner-personal_submersibles@psubs.org]On Behalf Of Julian
Ford
Sent: 27 August 2004 12:24
To:
personal_submersibles@psubs.org
Subject: Re: [PSUBS-MAILIST] UK
psuber's / ROV
Hello again, Steve...sorry for the delayed
reply.
You are right about microcontrollers...very
cool things! So much is possible with them.
My ROV, the Guppy, is a
fairly simple construction (mostly PVC and ABS pipe).
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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