Based on the current capabilities of the baseline software the team decided to move to v2. v1 includes basic movement with a time to distance conversion. It also includes custom depth hold and backstopping algorithms to give the sub a more stable platform.
Moving to v2, we will continue to develop software and leave v1 untouched to fall back on if needed.
The team met with mentor, Alan Kenny, to discuss the modem software. Mr. Kenny and his partner provided feedback for how to reduce transmission time. The image shows a diagram for the current acoustic file transfer system.
After discussion with our mentors, the team defined an updated software architecture. This architecture is reflective of the structure of the baseline code that has been developed. The key aspects are the pix-standalone.py and the robot-control.py that work together to control the movement of the sub. We discussed the mapper and path planning aspects and concluded that we will base them off a grid layout of the competition pool. We will take advantage of knowing the general position of the mission targets.
Observation: when driving in a straight line, the sub nose pictures down. Hypothesis barometer on the back of enclosure is force towards the surface and makes the sub induce a dive during depth hold.
Noticing after a bit of testing at 1950 that sub was pitching up. I think this is caused due to battery shifting in battery enclosure. Will be cramming the battery enclosure with more foam to reduce battery movement within battery enclosure. Pitching up of the sub was caused by the pipe buoyancy pod that we were using to flood as it ends were not sealed, reverting to pool noodle
Parker handbook 4.3 Face Type Seals “Face type seals are sometimes rectangular. In designing such a seal to receive a standard O-ring, th...
