The OpenROV controller board + BeagleBone actually include a fully programmable Arduino on board. The Beaglebone has a linux based version of the Arduino IDE tools and the controller board has been setup as a SPI programmer to the ATMEGA chip that is on board.
This guide assumes:
- You can connect to your ROV
- That you know hot to ssh on to the ROV (search for ‘putty’ on forums for instructions)
Once you have ssh’d on to the ROV, you will find the Arduino code in the
There are several ways you can edit the files on the ROV. As of this guide, there was an issue surrounding cloud9 with the full web based text editor way to do it. The other alternative is to use the pico editor which is a light weight editor that runs from within the ssh session.
As of this guide, most of the files still ship write protected. To modify a file you use
sudo pico <filename>. You may be prompted for the rov password which is the same one you used to login to the ROV.
When you are done making changes (in pico you press ^X to exit, and you are prompted to save the file).
You can then try compiling your changes and loading them on to the Arduino by either going to the cockpit and choosing the upload new firmware option from settings, or you can use this command-line command from the ssh session:
If the system has issues with what you have changed, you will see the compiler errors on the screen. You will also see some warnings, but you can ignore those.