I decided to move the motors to the outside of the OpenROV 241 this week. So I removed the wing/fins I printed last week and drew up some motor housings in Autodesk Inventor and printed 2 of them on Wed. night, this took 21 hours on my old 3D printer. On Sat. I attached them and moved the motors and props. This morning I went down to the lake for a test spin.
I have a lot more drag now (read that as much slower) but I am able to control the unit better. It almost drives in a straight line and my diving going forward is gone. I need to do more testing. Now that I have them made and attached I can see things that could be improved. They need to be a little longer and the sides that attach to ROV metal housing could be full of holes to make them lighter. Do you think adding a funnel shape to the output side of the props would give me more thrust or be worth while? It would be easy to draw funnels, 3D print and then attach them.
I am still running Brian's code for the gyro, which is really great. You can watch the compass turn as the unit turns. I moved the electronics for the gyro to the tube you see on the top of the ROV. Now I can tell if I get water in it. The plastic box I used last week was big and leaked. I like the tube much better.
It was a great day to go to the lake and everything worked.1227-OpenROV_Dev_Horizontal_Motor_Mountv2dwg.pdf (176 KB) 1229-openrovinwater.jpg (214 KB)