Practical information:
- General overwiew over project
- powersupply
- land unit
- stepper motors
- implementation in ROV
- Casing
- waterproofing
- modeling
- Shaft
- coding
- Casing
- wiring
- implementation in ROV
For more information check:
- Bachelor 2021
- Summer 2021
General overview:
Power:
Supplying power to ROV(30 V):
Supplying power to land unit (12 V):
Land unit:
Overview of land unit
Teather to ROV only utilize two wires(green and green/white) for data, the rest is for power.
Work done on stepper motors and casing
Shaft:
New shaft needed to fit the casing.
Issues with old shaft:
- profile:
- Too short
- top down:
- hole off center
- hole too large
old profile old top down
Casing
modeling:
3D-models from github:
- magnet-holder in motor housing
- stepper holder in motor housing
Stepper motor housing (white):
- No pathing for read switch cable
stepper motor holder top down
magnet-holder (white):
- Magnet is now compatible with magnets
- too wide to fit stack
magnet holder profile
new models have to take this in to consideration.
Waterproofing:
Group has concluded thtat filling the housing with oil is the best solution for waterproofing, as the shaft will make it dificult to fully waterproof the surounding area .
Coding:
Formated code to work with teensy, can be found on github:
- Found under William branch (or main)
comands:
Wiring:
stepper motors wiring can be found under Electrical schematics