Controlling 4 T-200 thrusters and 2 T-100 thrusers

General Discussion
1

Hi everyone,

I’m new to this field and currently working on a DIY ROV project with a tight budget, so I couldn’t allocate funds for a dedicated flight controller. I’m aiming to develop a 6 Degrees of Freedom (DoF) control system and would appreciate any guidance on how I can set up a control system with the components I have.

Here’s my setup:

  • 6 ESCs available
  • 4 T-200 thrusters, each with a max throttle drawing around 17-20A
  • 2 T-100 thrusters for additional control, with a max throttle of about 10-12A

I intend to use an STM32 microcontroller along with a PCA9685 PWM driver to control the ESCs. I’d love to hear any recommendations on how to approach this setup or any affordable hardware and software solutions that could help achieve reliable control for the 6 DoFs on this ROV.

Any advice on budget-friendly alternatives to a flight controller or relevant control configurations would be fantastic.

Thanks in advance!