Greetings OpenROV enthusiasts,
I’m working a thesis that involves modifying the OpenROV Arduino software (openrov-software-arduino directory) so that the thrusters on the OpenROV 2.8 adjusts their speeds and directions autonomously using bytes read over an I2C channel.
I’ve been successful in reading and writing bytes between the OpenROV 2.8 and an Arduino Mega 2560 microcontroller utilizing the I2C channel. The only issue is that I don’t have a method to successfully re-adjust the speeds and directions of the thrusters continuously with the bytes sent from the Arduino Mega. I’ve tried modifying the “CThrusters_2X1.cpp” with “if” statements and while loops, but the thrusters never start, and a while loop seems to make the thrusters crash. I know that the bytes are being successfully read continuously from the Arduino Mega and the bytes being sent are the correct values to run the thrusters.
I’d really appreciate assistance with figuring out how to modify the OpenROV Arduino software so that the thrusters re-adjust their speeds and directions autonomously according to the OpenROV I2C channel and not the buttons on a keyboard. Feel free to ask me questions.