I'm interested in making an ROV and I was hoping to be able to model it after openROV. I want to do this as cheap as possible. I have a BeagleBone Black, and Arduino Mega and I know they communicate using a bi-directional logic level converter. I've tried to find more information on this but most links seem to be broken. I have a couple of questions: How could I control the blushless motors using the arduino mega? Can someone provide helpful detailing on how the BBB is connected to the Arduino? What pins exactly go were in regards to the Arduino Mega?
Any help would be appreciated. My goal is to get this to work and write a comprehensive tutorial to help those in the future that might be in my situation.
I am also aware of the of this schematic of the overall communication for the system but I'm looking for a more comprehensive description.