As talked about in this weeks Dev call, I made a basic throttling method in the Arduino code that limits the PWM range of each thruster so it doesn't brown out. So just using really really rudimentary open loop control to stop brown outs of the beagle bone.
the variable throttleThrow sets how much the thrusters can go from neutral. Right now its set to 40, because in our bench tests, a single thruster running at pwm values of 130 or 50 drew about 4 A (using 8x NiMH batterys with a nominal pack voltage of 9.6 V).
Attached is the OpenROV.ino file; just replace the existing OpenROV.ino file with this one and you can load it into the arduino!
Have fun with it! Ill be working on improving it :D1701-OpenROV.ino (1.95 KB)