olegodo
Hi. I am curious if the EZ-Robot hardware and software might be a good solution as a control system for my underwater ROV that I am building.
Although I have tried to create something using arduino myself, the programming is really a steep learning curve for me.
I will be running a wired Ethernet connection from the surface and have a wifi hot spot in the rov to allow connection to the bv4. It must control 9 brushless esc's. 6 for movement (thrusters) and 3 for a robotic arm. Also one servo for moving the camera vertically. The esc's use the same signal as servo's do, so I don't think this will be a problem.
I will also need to control 3 relays.
I have this unit for sensing battery voltage and current draw: https://www.coolcomponents.co.uk/attopilot-voltage-and-current-sense-breakout-180a.html This can be connected to the ADC pins correct? This is made for 3.3volts, but can it still be used maybe?
I have this IMU from OpenROV that I want to use:
http://store.openrov.com/collections/frontpage/products/openrov-imu-depth-module
I see there already is support for the MPU-9150 chip. But is it possible to also get the depth and temperature rating from the MS5803-14BA chip?
I want all to be controlled with a gamepad/joystick. This means that multiple motors must react differently to stick movements. For instance, if I want the ROV to turn in place. 2 motors must turn clockwise and two counterclockwise.
Would all this be possible to do?
Br Ole
After some more thinking, this is actually just the same as a normal tracked robot. I can treat it the same way, but I need to be able to turn left or right gradually while moving forward or backwards. This can't be too difficult right? I have looked at the roli code and searched a bit for something like this, but haven't found anything that does this yet.
Any suggestions?
If turning while moving is the goal why not just use a rudder?
A rudder will not work as the craft also needs to be able to move sideways. Instead of a rudder you could have the thrusters turn like a rudder, but that approach would complicate things a lot.
This video shows this type of propulsion in use.
I see. What thruster configuration did you decide to go with?
Nothing is fully decided yet but the "five thruster version" form the picture above is what I really wish to have and what my current frame is designed to use. This is also what the ROV in the youtube clip is using.
Quick question. What is teh EZ-Script equivalent command for arduinos "map" command?
For instance if I want to take the joysticks -1 to 1 range and map it to 0-180 servo pos in a custom script?
Er du her fremdeler Ole? Jeg er i ferd med å starte et prosjekt og lurer på om det er EZ-B eller Arduino jeg bør satse på, og hører gjerne fra deg hvis du har lyst til å dele erfaringer / løse problemer
Claus (Hadeland)
Use multiplication
-or-
easier, assign the joystick to use a Virtual servo (v0-v99). And in code, simply get the virtual servo value. That way you can let the joystick control servo handle the range.