# Moki ROV2 **URL:** \ **Category:** DIY ROVs\ **Created:** [December 5, 2016, 11:31pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575 "2016-12-05T23:31:34Z")\ **Posts on this page:** 20\ **Page:** 1
**Author:** ![moki](https://avatars.discourse-cdn.com/v4/letter/m/c4cdca/32.png) [@moki](https://discuss.bluerobotics.com/u/moki)\ **Post date:** [December 5, 2016, 11:31pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/1 "2016-12-05T23:31:34Z")
Build my own ROV, with BlueRobotics parts (Thanks for making my life simpler) 😉 Some details: - Raspberry PI (Model B+) - Raspberry PI Camera Module v2 w/Wide Angle - Google Chrome browser on PC - XBox One controller (bluetooth connected to PC) - Teensy 3.2 - BlueRobotics Depth/Pressure sensor [MS5837-30BA] - Pololu attopilot 180A - Adafruit BNO055 IMU - BlueRobotics BlueROV2 Basic 30A ESC - BlueRobotics Lumen Subsea Light for ROV/AUV Power setup: - 24v 6.5A switching power suppy - DC to DC Converter (Stepdown from 48v to 12v) - D24V50F5 5v 5A Step-Down Software - Moki-ROV2 (own build ROV pilot software) - NodeJS v6.9.1 - Arduino-1.6.13-linuxarm - Platformio - Jacksonliam/mjpg-streamer ![](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/1X/2676c7412b67f83743a154c70a01942e68031bb3.jpg) ![](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/1X/dc634bccf8d2a3663fa4b55aec921f609423e945.png) ---
**Author:** ![tciii](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tciii/32/673_2.png) [@tciii](https://discuss.bluerobotics.com/u/tciii)\ **Post date:** [December 6, 2016, 12:36am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/2 "2016-12-06T00:36:21Z")
@Eric, Nice work, very impressive. Regards, TCIII AVD ---
**Author:** ![paul-unterweiser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/paul-unterweiser/32/697_2.png) [@paul-unterweiser](https://discuss.bluerobotics.com/u/paul-unterweiser)\ **Post date:** [December 6, 2016, 1:00am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/3 "2016-12-06T01:00:23Z")
Nice! Love the “heads up” display! 🙂 ---
**Author:** ![adam](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/adam/32/9438_2.png) [@adam](https://discuss.bluerobotics.com/u/adam)\ **Post date:** [December 6, 2016, 2:53am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/4 "2016-12-06T02:53:31Z")
Very good looking and compact ROV! ---
**Author:** ![rjehangir](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/rjehangir/32/671_2.png) [@rjehangir](https://discuss.bluerobotics.com/u/rjehangir)\ **Post date:** [December 6, 2016, 1:11pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/5 "2016-12-06T13:11:00Z")
@Eric - Awesome! Very well done. ---
**Author:** ![moki](https://avatars.discourse-cdn.com/v4/letter/m/c4cdca/32.png) [@moki](https://discuss.bluerobotics.com/u/moki)\ **Post date:** [December 6, 2016, 10:09pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/6 "2016-12-06T22:09:57Z")
Thanks guys for the heads up! ---
**Author:** ![tciii](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/tciii/32/673_2.png) [@tciii](https://discuss.bluerobotics.com/u/tciii)\ **Post date:** [January 19, 2017, 1:55pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/7 "2017-01-19T13:55:32Z")
@moki, Is the RPi providing a custom GUI or are you using QGC? Regards, TCIII AVD ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [January 20, 2017, 7:45am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/8 "2017-01-20T07:45:38Z")
> [@tciii](#): > > QGC Its custom build, you can find the code at [GitHub - Moki38/Moki-ROV2: Same looks, new design of the Moki-ROV software](https://github.com/Moki38/Moki-ROV2) ---
**Author:** ![jwalser](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/jwalser/32/2234_2.png) [@jwalser](https://discuss.bluerobotics.com/u/jwalser)\ **Post date:** [January 20, 2017, 2:36pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/9 "2017-01-20T14:36:49Z")
Epic work! How are the teensy and Pi communicating? What functions is the teensy responsible for? Is Arduino-1.6.13-linuxarm just an arduino ide that will run on the Pi? ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [January 20, 2017, 3:03pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/10 "2017-01-20T15:03:47Z")
Currently the PI and the Teensy are communicating over the serial port. (using a short 3" USB cable) The plan was to make that i2c, but as i need the serial port anyways to program the teensy (it was put on the todo list) Yes, the Arduino-1.6.13-linuxarm is just the IDE, but i am not sure if i still need it, as “platformio” does all the work nowdays. (Really should do a clean install once again 😉 ) MokiROV2 is a new branch of the old MokiROV software, which i started over 2 years ago. But ran into to many issues with the building part (i am a good tinker, better programmer… but not a great builder) But thanks to BR, i restarted my ROV project and already made my first dives. Now working on a 6 thruster version, with BlueROV2 frame 🙂 ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [January 20, 2017, 8:59pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/11 "2017-01-20T20:59:54Z")
Missed a question 😁 The Teensy does all the I/O, all i2c sensors, the esc’s (currently only pwm, but soon also using i2c) and the analog input from the attopilot A180. Before i used an adafruit pca9685 servo board for the pwm outout and another board for the A/D conversion…a teensy is just a cheaper, faster (and more steady) alternative. The Raspberry PI does the webserver and the mjpeg videostream(s) ---
**Author:** ![force10windsurf](https://avatars.discourse-cdn.com/v4/letter/f/49beb7/32.png) [@force10windsurf](https://discuss.bluerobotics.com/u/force10windsurf)\ **Post date:** [January 21, 2017, 12:30am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/12 "2017-01-21T00:30:09Z")
Looks good! Especially the heads up display. May I make a suggestion from past experience? Find some way to secure the end caps on the electronics housing from popping off, the pressure can build up and push them right off possibly in the middle of a dive. Heinz ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [September 6, 2017, 12:09pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/13 "2017-09-06T12:09:55Z")
MokiROV2 has reached version 1.0.0 I could add a video from my lastest dive… but the water here is cold/murky/cloudy. Ill see if i can find a “frame” with something to show 😉 ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [September 8, 2017, 8:44am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/14 "2017-09-08T08:44:48Z")
![quickdive](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/d/dcac07ea7585ace2c9b5fd777ebb2c68f409c2ef.jpg) A quick dive, to get a screenshot 😉 ---
**Author:** ![kevink](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/kevink/32/686_2.png) [@kevink](https://discuss.bluerobotics.com/u/kevink)\ **Post date:** [September 8, 2017, 11:33am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/15 "2017-09-08T11:33:28Z")
Wow that HUD looks great! Very nice work. ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [September 9, 2017, 8:07am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/16 "2017-09-09T08:07:55Z")
And a video [![](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/8/8619932523728d865a7decf9ffc8a946ab1cc705.jpeg "first dive MokiROV2") ](https://www.youtube.com/watch?v=w8op5mMCQlw) ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [September 9, 2017, 8:21am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/17 "2017-09-09T08:21:31Z")
For those how are wondering… its the underside of a marina jetty. With visibility at 30-50cm, its hard to find anything 😉 ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [September 10, 2017, 10:34am UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/18 "2017-09-10T10:34:35Z")
![mokirov-dashboard](https://us1.discourse-cdn.com/flex019/uploads/bluerobotics/original/2X/f/f1fc9ed1a989486e607201c32b0b5db44f03ffdb.png) As i am working on “PID” for the thrusters, i needed to analyse the data. Lucky for me, i have an ELK (Elasticsearch/Logstash/Kibana) in my environment. Just a quick hack dashboard. ---
**Author:** ![NIW](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/niw/32/1904_2.png) [@NIW](https://discuss.bluerobotics.com/u/NIW)\ **Post date:** [December 4, 2017, 2:48pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/19 "2017-12-04T14:48:04Z")
hey @Eric , How did you code the HUD, I am making my own raspberry pi ROV and a HUD would be very cool to use. ---
**Author:** ![eric](https://sea1.discourse-cdn.com/flex019/user_avatar/discuss.bluerobotics.com/eric/32/702_2.png) [@eric](https://discuss.bluerobotics.com/u/eric)\ **Post date:** [December 4, 2017, 4:28pm UTC](https://discuss.bluerobotics.com/t/moki-rov2/575/20 "2017-12-04T16:28:45Z")
I coded it in NodeJS and HTML5 Source can be found at github (MokiROV2)