i’ve been planning the build for a few months now and have made a start. It’s a ROV intended for undersea exploration down to 100 metres (330 feet). It’ll have a rectangular frame with 4 lateral thrusters, one on each corner, all at 45 degrees, and 4 vertical thrusters (because four motors running at 50% is more efficient than two motors running at 100%).
The frame will be made from PVC tubing (not thick-walled since the frame will be fully-flooded so there’ll be no pressure issues), the electronics housing will be an acrylic cylinder with a crush-depth of 150 metres.
On-board will be an Arduino Uno for control and a Raspberry Pi for video. The ROV will have 6 DOF so no need for a camera-tilt solution.
Topside wil be another Arduino that relays control commands to the Uno on the ROV. The ROV should be about 30x20cm (1 foot long and 8 inches wide).
The ROV will be powered by an on-board LIPO with a PDB for the ESCs and other electronics, the tether will be Cat5 with floats.
Of course, no plan survives the battlefield so there will probably be changes.
My first step was to get this PS3-controller clone :
working with this USB-host shield :
to control these motors :
via these ESCs :
using the PS3USB part of this USB library :
Having had some frustration trying to control the motors with potentiometers (without them smoking!) and analogue joysticks (which were poorly-made), the solution above worked as soon as i coded a rough control sketch.
I’ll be posting updates here and no doubt asking questions! I’ll also do videos and post to YT now and then.