Hi there, is there any experience on add in 2 more T200 motors for additional power on forward backward direcction, may be clonning the 2 motors in front or back off the rov. The idea behind this is put more power for the tether trolling in long distances and deep dives with high marine currents. Anyone any thoughts on how to do this?
Hi @Mauro,
This would be straightforward in software - you could configure the output pins to match the motor numbers of the ones being cloned, so they receive the same signal (and act as a single thruster).
You could also add motors in different orientations, but then you’d need to build your own firmware with a custom frame specification.
I expect the main challenges in achieving this would be around physically fitting the extra ESCs in the enclosure, (unless you’re adding two motors to a standard BlueROV2 frame, in which case the ESCs could be added like they normally would for the heavy configuration add-on), as well as the power delivery. The power system is not designed to have consistent periods of full throttle from many motors at once, so if you add extra motors to improve thrust in a direction then that may also risk going over the current discharge limit of the battery.
There may also be some difficulty with attaching the extra thrusters in a position that isn’t overly inclined to snag on the tether or hit obstacles - our frame designs normally shield the thrusters somewhat from collisions and snags.