Raspberry Pi
There is two RPi in this project. One is in the suitcase, and one in the ROV.
Password ROV: send email: williha@stud.ntnu.no
ROV: Raspberry Pi 4
Suitcase: Raspberry Pi 3B+ (default password)
Fathom-X Tether Interface rev2
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.
SwitchBlox Nano
This is a miniature ethernet switch.
It is used inside the ROV for communication between different ethernet devices. (RPi, Fathom, and external sensor)
Teensy 4.0
Two teesny 4.0 is used in the ROV. One is for controlling the stepper motors (wings).
The other teensy is gathering data from various sensors.
Both are connected to RPi with USB.
Teensy is used instead of Arduino because it is faster.
Guide and Docs
Stepper Motor
Stepper motors controls the two wings on the ROV. It has a gearbox to increase torque.
Model number: 17hs19-1684s-pg100
Electrical Connection
Electrical Drawing -> Stepper Diagram
Datasheet
Torque Curve
Stepper Driver Polulu DRV8825 (md20b)
A stepper driver is used to control a stepper motor. Teensy is controlling the Driver.
VREF is configured to 0.8V which corresponds to 1A/stepper phase.
Electrical Connection
Electrical Drawing -> Stepper Diagram