Part overview
| Table of Contents | ||
|---|---|---|
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Mainboard - ROV
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TODO: picture
Connections
| External | NR | PCB | |
|---|---|---|---|
Echo ping sonar | Green (RX) White (TX) | X10 | TS_P8 (TX2) TS_P7 (RX2) |
| Red Black | X9 | 5V GND | |
Pressure sensor | White (SDA) Green (SCL) | X8 | SDA SCL |
| Red Black | X7 | 5V GND | |
Stepper starboard | Green (A-) Green/White (A+) | X6 | DRV1 A2 DRV1 A1 |
| Blue/White (B+) Blue (B-) | X5 | DRV1 B1 DRV1 B2 | |
| Sensor starboard | Red Black | X4 | 3,3V TM_P9 |
Stepper port | Green (A-) Green/White (A+) | X3 | DRV2 A2 DRV2 A1 |
| Blue/White (B+) Blue (B-) | X2 | DRV2 B1 DRV2 B2 | |
| Sensor port | Red Black | X1 | 3,3V TM_P17 |
Mainboard gets power from "Dual Voltage supply - ROV"
The connection is located on the backside of the PCB.
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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Stepper Driver Polulu DRV8825 (md20b)
A stepper driver is used to control a stepper motor. Teensy is controlling the Drivers.
There is one driver for each stepper motors. (2 in total)
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Reference
Leak sensor
Leak sensor detects water leak in the electronics tube.
The sensor is connected to sensor teensy.
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IMU
Inertial measurement unit is gathering positional data of roll, yaw and pitch.
Is connected to sensor Teensy with 3.3V i2c.
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Reference
Temperature sensor
This sensor is planned to measure the internal temperature of the ROV. Two sensor is planned, one for each side.
Both PCB has ready holes for the sensor. Sensor is not currently mounted or bought.
Code is not edited to support the sensor, but should not be hard to implement.
The purpose of this sensors is to check if the tube is overheating.
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