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There is two RPi in this project. One is in the suitcase, and one in the ROV.
Both is configured with realVNC server.

Password: send email : to williha@stud.ntnu.no

ROV

Model: Raspberry Pi 4B rev 1.4 4GB

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Raspberry pi 4

Raspberry pi 3B+

Fathom-X Tether Interface rev2

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FathomX is an Ethernet bridge between the ROV and the suitcase. This enables communication through the tether cable.
The FathomX is connected to each side of the tether. It requires only two wires for communication. 

Reference

Blue Robotics Guide and Docs

SwitchBlox Nano

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This is a miniature ethernet switch.
It is used inside the ROV for communication between different ethernet devices. (RPi, Fathom-X, and Side-scan sonar)

Reference

botblock.io Guide and Docs

Teensy 4.0

Two teesny 4.0 is used in the ROV. Both are connected to RPi with USB.
Teensy is used instead of Arduino because it has a faster processor.

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This teensy is gathering data from various sensors and sending data to RPi.
Sensor Teensy is running this code.  NOTE. update link after merge
Sensors connected:
 - Echo sounder
 - Pressure sensor
 - Leak sensor
 - IMU

Reference

Getting started guide

Teensy 4.0 Documentation

Fathom-X Tether Interface rev2

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FathomX is an Ethernet bridge between the ROV and the suitcase. This enables communication through the tether cable.
The FathomX is connected to each side of the tether. It requires only two wires for communication. 

Reference

Blue Robotics Guide and Docs

SwitchBlox Nano

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This is a miniature ethernet switch.
It is used inside the ROV for communication between different ethernet devices. (RPi, Fathom-X, and Side-scan sonar)

Reference

botblock.io Guide and Docs

Leak Sensor

Leak sensor detects water leak in the electronics tube.

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TODO: Find more docs and guides

Dual voltage converter

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Components

dc-dc converter 9...53V - 48V i7c-4w-008a-120v-0f1

max output current at 12V (input) is 2,2A
max output current at 24V (input) is 4,5A

Reference

toggle switch SPDT 5A

trimpot 12kohm 0.25W

I2C Level Converter

For i2c devices with different voltages. 

Not used. Old system used arduino with 5V I2C logic. Teensy used 3.3V logic.
All i2c sensor in ROV uses 3.3V.

Reference

https://bluerobotics.com/store/comm-control-power/tether-interface/level-converter-r1/

Stepper Motor

Stepper motors controls the two wings on the ROV. It has a gearbox to increase torque. 

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Electrical Drawing -> Stepper Diagram

Reference

Pololu Guide and docs

Magnetic sensor

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Magnetic sensor is a switch that closes when nearby to a magnet. 
One is used in each motor house for calibration.

Reference

no.rs proximity sensor

Dual voltage converter

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This is a custom made voltage converter located in the suitcase. It supplies the ROV, and some components in the suitcase with power from a 12V battery.

INPUT: 12V DC. Both inputs terminals are connected together internally in the pcb. (connecting one input terminal is sufficient)
Note: Input must be 12V, because fathom-x and router is also connected to "input" power.
Input from 11V to 40V can be used if fathom and router is connected to another supply.
The i7c converter (right) can deliver much more power if input voltage is raised.

OUTPUT: 5V (left), 48V (right). Both output voltages can be adjusted with the trimpots.

Switch on/off: Down (towards output) is on.

Pcb schematic was designed with easyEDA, and ordered from JLBPCB.
Five pcb's was ordered in case more was needed for other projects.
The pcb can be cut at the white line if only one side is needed.

Components

• Dc-dc converter (right): i7c-4w-008a-120v-0f1
  Input: 9V to 53V DC
  Output: 9,6V to 48V (adjustable with trimpot)
  Max output current at 12V (input) is 2,2A
  Max output current at 24V (input) is 4,5A
  See datasheet for more info
  
  
• Dc-dc converter (left): VMA404
  Input: 4V to 40V DC
  Output: 1,25V to 35V (adjustable with trimpot)
  Max output current: 2,5A
• Custom pcb
• 4x screw terminal 5.08mm pitch
• 2x SPDT switch 
• 2x Fuse 2A and fuse holder
• Trim pot 12kohm 
• Capacitors (see schematic for value)

Reference

Find drawing under towedROV -> Electrical schematics
CAD for fastening is at github.com/autoHammer/towed-rov-fusion TODO: change link when merged, new position should be under github CAD page

toggle switch SPDT 5A

trimpot 12kohm 0.25W

I2C Level Converter

For i2c devices with different voltages. 

Not used. Old system used arduino with 5V I2C logic. Teensy used 3.3V logic.
All i2c sensor in ROV uses 3.3V.

Reference

https://bluerobotics.com/store/comm-control-power/tether-interface/level-converter-r1/