RE: [PSUBS-MAILIST] ROV -- depth sensors and compass...

[Jari Siikarla <jari.siikarla@vertex.fi>]

Hi

Now that the issue has been cleared:
" Hi! My name is Jari and I'm a ROVer"

Julian I'd love to see your ROV and compare "notes".
RyanAir does have cheap flights from Tampere,Finland to
Stanstead (London, UK) ... ;)

My ROV is a Iron tube with external floats, 3 thrusters &
video camera. Design depth is 50m (150 ft) and all parts are rated
to 7bar. Umblical has 2 wires for power, 2 for video/audio and
2 for serial com.

I control it with R/C radio controller. It's read through it's trainer
connector by a PIC (16F628) with 8 additional buttons for misc
functions and transmitted serially underwater to another PIC (16F628 again).

The lower controller is made of separate PCB's connected with 26pin ribbon
cable used as a bus (like PCI or ISA in PC's).
The "mother board" has 2* RS-232 in/out and 8* RC-servo outputs (1-2ms PPM)
for servos and motor controllers.

The other boards are for relays control with 24 separate relays by 3 
Allegro's 6A595's
and 8 A/D channels by MicroChips MCP3208.

I use Allegro's ACS750 current sensors with the A/D board to keep an eye on 
the motor currents
and CMPS03 compass module from Devantech (cheap unit). I got a sweat deal 
on a Rosemount's
4-20mA current loop pressure transducer, so I'm using it as a depth sensor.

All data is sent back up for the upper PIC to be shown on TV screen through 
an OSD by Decade Engineering.

No manipulators at the moment, but I have plans ... oh boy do I have plans ;)

I wouldn't trust my life on these home-made gadgets, but they could be used 
in full subs
as an nice user interface, just make sure you double check any important 
figures from
sub grade instruments. I think.

Jari Siikarla





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