ROV controller

thingiverse

Human: ROV controller for SeaPerch utilizes boost converter to amplify 12VDC battery power supply to 20VDC or more as needed to achieve higher motor RPMs. L298N motor controllers and PWM from Arduino Nano are used in conjunction to regulate speed to three motors, including right/left thrusters and up/down thruster. PCB was designed to incorporate MS5540C pressure sensor on second ethernet jack for automatic depth control via PID controller but had to abandon its use after overheating during soldering process. Included is the Arduino code utilized. Noted that thrusters did not provide equivalent thrust for same PWM, so potentiometers were used to independently adjust speed of right and left motor thrusters. Additionally, a hover potentiometer was implemented to set speed of up/down thruster based on buoyancy of ROV, maintaining given depth.