My first prototype is a positive buoyant ROV that uses four T100 thrusters to create ballast and directional control. The four thrusters articulate via HiTec servos housed in a watertight NEMA enclosure. I’m using an Arduino MEGA2560 microcontroller, with on board accelerometer, Bar30 pressure sensor, and water sensors. My controller is dual joystick control for forward/reverse, left/right, cw/ccw rotation, and up/down. I also have an lcd screen and multiple pots for feedback and adjustments on the fly.
Most of my testing has been in a trash can, but I’ve finally gotten some pool time (see video link). I’m using the accelerometer to try to maintain level while changing directions. I’m hoping that once I figure out the parameters I need for responsive level and depth correction, I can add more buoyancy, increasing my thruster output and maneuverability.
My tether is a relatively short and heavy 25 wire cable. I found it’s just as easy to tie it to the bottom and let it sink versus trying to make it float. I don’t expect the enclosure to go much deeper that 15ft so I didn’t bother with a longer cable. This is more of a proof of concept but I would appreciate any and all input.