I’m looking to add at least two, preferablly 3 servos for a robot gripper to the bluerov2 advanced control stack. Ideally I want to control it with the same controller and interface that the main rov uses. A second tether run with a pair of additional fathom x boards and a second robot arm controller is an option, but I would like to avoid that if possible.
So, my question is, is there any theoretical way to add servo outputs to either the pixhawk or the raspberry pi in such a manner that they could be controlled by the ground station? I already have an i2c breakout board to add the barometer and a compass to the pixhawk, so 2 additional i2c ports on it are available. Something like this might work then, either on that splitter or off of the pi board https://www.adafruit.com/products/1411?gclid=CKSDpJqTntICFQ9EfgodkcAIpQ
Any ideas or existing projects I can copy? I can do the interface coding if I can get a theoretically workable electrical hardware setup. I have the external mechanics and placement of the arm itself sorted, just need to figure out how to make it do things.
Thanks for any ideas!