Building Remote Operated Underwater Vehicle introduction

Here it is. I have finally I have finally got my channel up and my first video posted. This channel will be used as a visual aid station keep up and hopefully duplicates parts of my project.

New Weekly update

It turns out I have an audience of one. It's been suggested that I explain the steps better have a larger view of the overall project. To accomplish this I will attempt to make each segment of the process duplicatable. I've been heavily considering making short videos to go along with the text. He will come to find that my video editing skills are even worse than my spelling.

Air systems optical encoder

The servo does not have a built-in encoder :-(, this has proven to be an inconvenience because the servo motor for the era regulation does not move linearly with increased load. The optical encoder will improvise for this sluggish movement.

The key to every mystery is a simple as finding data points. More data points you have: the more he will know about the mystery.

My mystery is also battle, I cannot move at a high radial frequency because my sample rate is too slow and resolution relatively unknown which I will get to momentarily. I can designate a separate microcontroller to the optical encoder, by servo with an encoder, or decrease my resolution of the encoder but keep it in with my desired accuracy.

How accurate do I need it? Back to that whole making data points to solve the unknown. Here it is see Figure 1:


Figure 1: pressure versus degrees of rotation by the servo.


My graphics in figure 1 seem to me missing some crucial data this can now be found in Table 1.

Radial degrees	Test 1 atm	Test 2 atm	Test 3 atm
0°	1.0	1.1	1.1
60°	2.1	2.0	2.0
120°	3.6	3.5	3.4
180°	5.1	4.8	4.9
240°	6.6	6.4	6.3
300°	7.8	7.6	7.6
360°	9.1	8.6	8.8
420°	10.5	10.1	10.3
480°	11.8	11.6	11.7
540°	n/a	n/a	13.0
600°			14.4
660°			15.9
720°			17.9
780°			19.4
840°			21.0
900°			22.6

Table 1: radial degrees first pressure plot.

There are some data points but I am limited by my temporary pipe system which is only supposed to handle 8.2 ATMA (~100psig). The second it as a pressure test shortly after reaching the 16 ATMA I had a joint start leaking air.

Test 1 may have some extra and accuracy from my air tank rotating.

Test 2 corrected errors than the of occurred and test one.

Test 1 and 2 were only brought slightly above the maximum suggested pressure.

Test 3 was pushed further than the maximum suggested pressure mainly the first third visualize the linear reality of the pressure regulator.

Conclusion I will need a minimum resolution of 87 nooks. Note: 0.1 ATM is this lowest acceptable resolution as used in this calculation.

Case Test 1: 480°/10.8atm = 4.44°/0.1atm =>360°/4.44° = 81 nooks.

Case Test 2: 480°/10.6atm = 4.53°/0.1atm =>360°/4.53° = 80. nooks.

Case Test 3: 900°/21.6atm = 4.17°/0.1atm =>360°/4.17° = 87. nooks.


I will go with Case Test 3 results, because they are the least favorable. To further simplify future arithmetic and to have a little above the minimum I will go with 100 nooks.

Here's a link to a site which generates optical encoders:http://www.bushytails.net/~randyg/encoder/encoderwheel.html

The could be some small improvements to the site but I'm not about to write one myself so I'll deal with it and imagine you'll do the same. After plugging chunking and redoing I came up with my optical encoder see Figure 2



Figure 2: optical encoder image with 100 steps.

How does an optical encoder work click (here)

A new function has just been started as an emergencystop.

This is a link to the emergency stop function.

http://rovjacobsnotes.blogspot.com/p/emergencystop-function-in-balisktank.html

For now all that it does is turns my servo. Later I may huck a watchdog timer.

Servo 1.1 four main code pressure regulator

I will be adding my server 1.1 Arduino code into my ballast tank test code.

In the process of converging these two codes I will make notes on what comments have been added to which lines. Note it's unlikely the lines will say the same but the general area or functions well in laissez later remark specifies.

• Line 8 #include <Servo.h> --Remove from line 8; already in previous code online 79 under loop
• Line 41 String serial;// Used in AirRegulatorServo()
• line 42 add Servo myservo;// Used in the air systam sorvo. see about oving this.------------------
• Line 49 myservo.attach(9);// Used in AirRegulatorServo() Set Pin, Defalt: 9. ------------------------See about moving this into the function AirRegulatorServo(). At a later time
• Line 134 Add reference to AirRegulatorServo(serial); under loop------------------------------------- see about adding a condition to running this function.
• Line 582 Add function 

int AirRegulatorServo(String serial){

  

   }

   else serial = "90";

  

  

  if(serial.toInt()<90){

    myservo.write(serial.toInt()-4);

  }

  else myservo.write(serial.toInt());

delay(500);// Temp remove after tested.

}

This will be modified at a later time.

This function is still in progress and will be updated regularly here on my online notebook.


Momentarily problem the servo is spending without apparent merit.
Partial solution by default serial is zero and not what's required for stationary which is 90.

• Line 115under loop change serial = "0" to serial = "90". 

Air regulating servo

Air regulating servo

The servo will be used to manage the pressure regulator. The servo SM-S4315R has the capability of continuous rotation and is ideal for this application figure 1.


Figure 1: SM-S4315R servo

The code used is available (here). This shows the basic functionality. In order to have the servo rotate clockwise send a integer between 0 and 89, to prevent the servo from rotating send 90 via serial port, and to rotate counterclockwise any integer between 91 and 180. Farther the number is from 90 faster the servo will rotate.

Click (here) for more details.

_1BallestTank log

Check out this link if you want to see day by day updates to the code step-by-step. I use this remember what I need to do next what I have done what I am doing.

 https://docs.google.com/document/d/1WbHuAKNx37og5TZgPzxtCpS8VbajrMFgU-ae3QmPHjg/edit?usp=sharing