Hey Beth O,
I had this same issue and doing the software modification helped me out on low thrust settings.
Watch this video from Brian to see how to connect, if my instructions don't work below. ( https://www.youtube.com/watch?v=Wwb-aG9Yblw )
- Connect to your OpenROV through the browser: 22.214.171.124
- I stopped the OpenROV Cockpit and started Cloud 9 IDE
- Connect to the Cloud 9 IDE: 126.96.36.199:3131 (you might have to refresh to get rid of the session ID error.)
- On the left in the window if all goes well, you should see a file menu. You want to navigate through the folders/files to: src/plugins/rovpilot/public/js/rovpilot.js
- Once here, open it up and scroll almost all the way to the bottom. You will need to find the line of code and change it according to the following link. https://github.com/codewithpassion/openrov-software/commit/d296d8c8c52a8111a78e614cc6090e4d7b3a24ab
Once this is done, the change is saved on the file system on the ROV, not on the Arduino. You will need to re-start the Cockpit and shut down Cloud 9 (I do this not to burden the BeagleBoneBlack) Under the settings tab in the OpenROV Cockpit, you will need to re-upload the firmware and the changes will be made.
When I did this, I double checked on thrust setting one that the left/right turn didn't go to full speed. I can run the ROV in thrust setting 1 and 2 no problems. I believe it also worked for me on thrust setting three. I can use thrust setting 4 & 5, but only forward/back. I will be ordering the new batteries to overcome the issue.
Hope this helps!