Control model for submarine
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Hi all,
I've just started thinking about a control system for the remote control
submarine I want to build. The controls I will need are as follows:
2x thruster speed, with fwd/rev (2 electric motors)
2x thruster rotation (servo's)
1x ballast fill/purge (servo)
1x camera pan/tilt
I hope this makes sense.
My plan is to have a master BS2 which receives all the RS-232 control
information from a control PC, and several other Stamps to take care of the
various operations stated above. The main controller BS2 would receive the
serial data (eg. motor speed/direction) and then send this data to the
relevant control stamp.
I thought the above system would be the best way to allow the sub to perform
more than one task at a time. There is no doubt a more practical way of
doing things and would love to hear ANY feedback.
Thanks,
-Rob
PS. Any links which demonstrate a serial control system similar to the one
I've described above would be greatly appreciated! Thanks!
I've just started thinking about a control system for the remote control
submarine I want to build. The controls I will need are as follows:
2x thruster speed, with fwd/rev (2 electric motors)
2x thruster rotation (servo's)
1x ballast fill/purge (servo)
1x camera pan/tilt
I hope this makes sense.
My plan is to have a master BS2 which receives all the RS-232 control
information from a control PC, and several other Stamps to take care of the
various operations stated above. The main controller BS2 would receive the
serial data (eg. motor speed/direction) and then send this data to the
relevant control stamp.
I thought the above system would be the best way to allow the sub to perform
more than one task at a time. There is no doubt a more practical way of
doing things and would love to hear ANY feedback.
Thanks,
-Rob
PS. Any links which demonstrate a serial control system similar to the one
I've described above would be greatly appreciated! Thanks!
Comments
How big of a system will it be? Very cool.
Why would you rotoate the thrusters with servos? For lift? A single
prop/motor in a vertical orientation is pretty much standard and a lot
easier to build than another moving, waterproof interface. Also removes the
need for a dynamic ballast. But I digress into ROV fabrication rather that
stamp programming....sorry guys.
I've been thinking of building my own ROV with stamp control but have never
gotten around to actually planning it out. Kudos!
Mike Slaney
Former ROV Pilot/Technician/Goofball
O-Rings anyone??
Original Message
From: "Rob Werner" <rwerner@b...>
To: <basicstamps@yahoogroups.com>
Sent: Tuesday, August 07, 2001 8:12 AM
Subject: [noparse][[/noparse]basicstamps] Control model for submarine
> Hi all,
>
> I've just started thinking about a control system for the remote control
> submarine I want to build. The controls I will need are as follows:
>
> 2x thruster speed, with fwd/rev (2 electric motors)
> 2x thruster rotation (servo's)
> 1x ballast fill/purge (servo)
> 1x camera pan/tilt
>
> I hope this makes sense.
>
> My plan is to have a master BS2 which receives all the RS-232 control
> information from a control PC, and several other Stamps to take care of
the
> various operations stated above. The main controller BS2 would receive
the
> serial data (eg. motor speed/direction) and then send this data to the
> relevant control stamp.
>
> I thought the above system would be the best way to allow the sub to
perform
> more than one task at a time. There is no doubt a more practical way of
> doing things and would love to hear ANY feedback.
>
> Thanks,
>
> -Rob
>
> PS. Any links which demonstrate a serial control system similar to the
one
> I've described above would be greatly appreciated! Thanks!
>
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and
Body of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
>
>
takes is an efficient software design, something supported by PBASIC.
Consider creating a "task switcher" (with the BRANCH command) where the main
code receives serial commands (you can use flow control so you don't miss
anything) then switches out to service each of the elements you've described
in a Round-Robin manner. For the electric motors, you might consider the
Motor Mind B. The servos can be handled by PULSOUT (but need to be serviced
every 20 ms or so).
You'll want to keep your communications between the PC and the Stamp short
and the highest possible baud rate. This will keep the PC-to-Stamp comms
from clogging things up.
In the end, you may in fact, find that you need coprocessors. My experience
tells me though that you probably don't. Give PBASIC a chance....
-- Jon Williams
-- Applications Engineer, Parallax
-- Dallas, TX
In a message dated 8/7/01 7:14:33 AM Central Daylight Time,
rwerner@b... writes:
> I've just started thinking about a control system for the remote control
> submarine I want to build. The controls I will need are as follows:
>
> 2x thruster speed, with fwd/rev (2 electric motors)
> 2x thruster rotation (servo's)
> 1x ballast fill/purge (servo)
> 1x camera pan/tilt
>
> I hope this makes sense.
>
> My plan is to have a master BS2 which receives all the RS-232 control
> information from a control PC, and several other Stamps to take care of the
> various operations stated above. The main controller BS2 would receive the
> serial data (eg. motor speed/direction) and then send this data to the
> relevant control stamp.
>
> I thought the above system would be the best way to allow the sub to perform
> more than one task at a time. There is no doubt a more practical way of
>
[noparse][[/noparse]Non-text portions of this message have been removed]
motors.
Thruster may be drived by a standard servo circuit boosted by
transistors os Mosfets, or more simple by an R/C ESC- Electronic Speed
Control.
Pan e tilt may also done with 2 servos.
ACJacques
Rob Werner wrote:
>
> Hi all,
>
> I've just started thinking about a control system for the remote control
> submarine I want to build. The controls I will need are as follows:
>
> 2x thruster speed, with fwd/rev (2 electric motors)
> 2x thruster rotation (servo's)
> 1x ballast fill/purge (servo)
> 1x camera pan/tilt
>
> I hope this makes sense.
>
> My plan is to have a master BS2 which receives all the RS-232 control
> information from a control PC, and several other Stamps to take care of the
> various operations stated above. The main controller BS2 would receive the
> serial data (eg. motor speed/direction) and then send this data to the
> relevant control stamp.
>
> I thought the above system would be the best way to allow the sub to perform
> more than one task at a time. There is no doubt a more practical way of
> doing things and would love to hear ANY feedback.
>
> Thanks,
>
> -Rob
>
> PS. Any links which demonstrate a serial control system similar to the one
> I've described above would be greatly appreciated! Thanks!
>
> To UNSUBSCRIBE, just send mail to:
> basicstamps-unsubscribe@yahoogroups.com
> from the same email address that you subscribed. Text in the Subject and Body
of the message will be ignored.
>
>
> Your use of Yahoo! Groups is subject to http://docs.yahoo.com/info/terms/
I'm researching my depth capablity at the moment, but I'm going
to try and go as deep as I can!
Email me at 'rwerner@b...' and i'll let you know how I
get on.
-Rob
--- In basicstamps@y..., "Mike Slaney @ Verizon"
<mike.slaney@v...> wrote:
> Sending the video over RS-232(??!!) or a coax? How deep do
you want to go?
> How big of a system will it be? Very cool.
> Why would you rotoate the thrusters with servos? For lift? A
single
> prop/motor in a vertical orientation is pretty much standard and
a lot
> easier to build than another moving, waterproof interface. Also
removes the
> need for a dynamic ballast. But I digress into ROV fabrication
rather that
> stamp programming....sorry guys.
> I've been thinking of building my own ROV with stamp control
but have never
> gotten around to actually planning it out. Kudos!
>
> Mike Slaney
> Former ROV Pilot/Technician/Goofball
> O-Rings anyone??
>
>
Original Message
> From: "Rob Werner" <rwerner@b...>
> To: <basicstamps@y...>
> Sent: Tuesday, August 07, 2001 8:12 AM
> Subject: [noparse][[/noparse]basicstamps] Control model for submarine
>
>
> > Hi all,
> >
> > I've just started thinking about a control system for the remote
control
> > submarine I want to build. The controls I will need are as
follows:
> >
> > 2x thruster speed, with fwd/rev (2 electric motors)
> > 2x thruster rotation (servo's)
> > 1x ballast fill/purge (servo)
> > 1x camera pan/tilt
> >
> > I hope this makes sense.
> >
> > My plan is to have a master BS2 which receives all the
RS-232 control
> > information from a control PC, and several other Stamps to
take care of
> the
> > various operations stated above. The main controller BS2
would receive
> the
> > serial data (eg. motor speed/direction) and then send this
data to the
> > relevant control stamp.
> >
> > I thought the above system would be the best way to allow
the sub to
> perform
> > more than one task at a time. There is no doubt a more
practical way of
> > doing things and would love to hear ANY feedback.
> >
> > Thanks,
> >
> > -Rob
> >
> > PS. Any links which demonstrate a serial control system
similar to the
> one
> > I've described above would be greatly appreciated! Thanks!
> >
> >
> > To UNSUBSCRIBE, just send mail to:
> > basicstamps-unsubscribe@y...
> > from the same email address that you subscribed. Text in
the Subject and
> Body of the message will be ignored.
> >
> >
> > Your use of Yahoo! Groups is subject to
http://docs.yahoo.com/info/terms/
> >
> >